FUZZY SLIDING MODE CONTROL BASED ON BACKSTEPPING SYNTHESIS FOR UNMANNED QUADROTORS

被引:4
|
作者
Medjghou, Ali [1 ]
Slimane, Noureddine [2 ]
Chafaa, Kheireddine [1 ]
机构
[1] Univ Mostefa BenBoulaid, Fac Technol, Elect Dept, LAAAS, Constantine Rd 53, Fesdis 05078 2, Batna, Algeria
[2] Univ Batna 2, Fac Technol, Elect Dept, LEA Lab, Constantine Rd 53, Fesdis 05078 2, Batna, Algeria
关键词
Backstepping techniques; fuzzy logic system; quadrotor; sliding mode control;
D O I
10.15598/aeee.v16i2.2231
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
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.
引用
收藏
页码:135 / 146
页数:12
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