Adaptive Fuzzy-Chebyshev Network-based Continuous Sliding Mode Controller for Quadrotor Unmanned Aerial Vehicle
Lemya Guettal, Abdelghani Chelihi, Mostefa Mohamed Touba, Hossam-Eddine Glida, Riadh Ajgou
Abstract
The purpose of this paper, is to design a controller for quadrotor attitude system. The designed control law combines a continuous second-order sliding mode control (CSOSMC), the Fuzzy-Chebyshev network (FCN) and the adaptive control methodology. The FCN with adaptive parameters is exploited to approximate the nonlinear functions and improve the robustness against parametric uncertainties and external disturbances. Otherwise, the continuous sliding mode aims to completely eliminate the chattering phenomenon. The stability of the quadrotor attitude control system is proven by the Lyapunov stability approach. The simulation results demonstrate the capability and efficiency of the proposed technique in the presence of uncertainties and external disturbances.
Details
| Original language | English |
|---|---|
| Article number | 9151733 |
| Pages | 382-387 |
| DOI | 10.1109/ccssp49278.2020.9151733 |
| Publication status | Published — 1 May 2020 |
Keywords
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- Adaptive Control of Nonlinear Systems
- Fuzzy Logic and Control Systems
- Advanced Control and Stabilization in Aerospace Systems
- quadrotor
- attitude control
- adaptive control
- chattering elimination
- parameter uncertainty
- external disturbances
- Lyapunov stability
- nonlinear function approximation
- Control and Systems Engineering
- Artificial Intelligence
- Aerospace Engineering
- Engineering
- Computer Science