Paper
Improved Sliding Mode Controller Using Backstepping and Fuzzy Logic for a Quadrotor Aircraft
Aoun, Yacine, Medjghou, Ali, Maaoui, Bedreddine, Slimane, Noureddine
Abstract
In this work, a new robust nonlinear controller is presented in presence of large external disturbances for a quadrotor aircraft. The controller is based on an improved sliding mode control. The improvement is done by adding two other terms, one is a backstepping synthesis and the other one is a fuzzy logic term in order to reduce the chattering phenomenon and achieve more acceptable performance. The dynamical motion equations are obtained by Euler-Newton formalism. Lyapunov theorem is used to prove the stability of control system. A simulation is carried out to illustrate the effectiveness of the proposed control
Details
| Original language | English |
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| Event | International Symposium on Mechatronics and Renewable Energies El-Oued 10- 11 December 2018 |
| Publication status | Published — December 2018 |