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Fuzzy Sliding Mode Control Based on Backstepping Synthesis for Unmanned Quadrotors

Ali Medjghou, Noureddine Slimane, Kheireddine Chafaa

DOI: 10.15598/aeee.v16i2.2231


Abstract

The main purpose of this paper is to integrate fuzzy logic technique and backstepping synthesis to sliding mode control to develop a Fuzzy Backstepping-Sliding Mode Controller (FBSMC) to resolve the problem of altitude and attitude tracking control of unmanned quadrotor systems under large external disturbances. First, a backstepping-sliding mode control for quadrotor is introduced. Moreover, a fuzzy logic system is employed to adapt the unknown switching gains to eliminate the chattering phenomenon induced by switching control on the conventional Backstepping-Sliding Mode Controller (BSMC). The dynamical motion equations are obtained by Euler-Newton formalism. The stability of the system is guaranteed in the sense of the Lyapunov stability theorem. Simulation results are carried out using Matlab/Simulink environment to illustrate the effectiveness and robustness of the proposed controller.

Keywords


Backstepping techniques; fuzzy logic system; quadrotor; sliding mode control.

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