Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter
نویسندگان
چکیده
منابع مشابه
Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter
In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x,y,z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order n...
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The main purpose of this paper is to integrate fuzzy logic control and sliding mode control techniques based on backstepping approach to develop a robust fuzzy backstepping sliding mode controller (RFBSMC) for an under-actuated quadrotor UAV system under external disturbances and parameter uncertainties. First, a robust backstepping sliding mode control for quadrotor is introduced briefly. More...
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15 صفحه اولRobust Chattering Free Backstepping Sliding Mode Control Strategy for Autonomous Quadrotor Helicopter
Abstract— In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by ...
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In this paper, a new sliding mode controller is proposed for the heading control of the submersible vehicle. Within a fixed boundary layer around the switch surface, since the fuzzy logic is applied, the chattering phenomenon is eliminated by smoothing the switch signal. Outside the boundary, the sliding mode control is applied to driving the system states into the boundary layer. Moreover, the...
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ژورنال
عنوان ژورنال: Archives of Control Sciences
سال: 2012
ISSN: 1230-2384
DOI: 10.2478/v10170-011-0027-x