Adaptive Fuzzy-Neural Network based Decentralized Backstepping Controller for Attitude Control of Quadrotor Helicopter

This work consists in designing a backstepping controller based on an adaptive fuzzy neural network (FNN). The main aim is the attitude control of a quadrotor system under uncertainties and disturbances. The FNN with adaptive parameters is exploited to approximate the nonlinear functions and improve the robustness against parametric uncertainties and external disturbances. FNN is included in class...