Trajectory tracking control of a quadrotor via fuzzy terminal sliding mode controller in the presence of uncertainty
Bahare Khalili,
MS student, Malek Ashtar University
Mohammad Rezaei,
Assistant Professor, Malek Ashtar University
Abstract
The purpose of this research is to design a robust controller in the presence of noise and uncertainty for trajectory tracking of a quadrotor flying robot. This paper presents a new method in which fuzzy logic controller is used to determine the optimal controller coefficients of a high order sliding mode controller. This method improves control behaviors against parametric uncertainty for a quadrotor trajectory tracking control. Results of simulation in two cases with parametric uncertainty and without uncertainty for trajectory tracking control demonstrate robustness and good performance of the proposed controller against uncertainty.
Keywords : fuzzy terminal sliding mode controller, quadrotor, trajectory tracking, uncertainty
Pour citer cet article
Bahare Khalili & Mohammad Rezaei, «Trajectory tracking control of a quadrotor via fuzzy terminal sliding mode controller in the presence of uncertainty», Bulletin de la Société Royale des Sciences de Liège [En ligne], Volume 85 - Année 2016, Actes de colloques, Special edition, 227 - 237 URL : https://popups.uliege.be/0037-9565/index.php?id=5300.