Robust Fuzzy Backstepping Sliding Mode Controller For a Quadrotor Unmanned Aerial Vehicle

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. Moreover, a fuzzy logic inference mechanism is employed for implementing a fuzzy hitting control law to reduce the chattering phenomena on the conventional RBSMC. Lyapunov based stability analysis shows the main advantage of these control systems which are the trajectory tracking and the stability maintaining of the closed loop dynamics of quadrotor UAV even after occurrence of external disturbances and parameter uncertainties. The effectiveness of the complete system including the quadrotor, and the RFBSMC controller is demonstrated via some simulation results, and its advantages are indicated in comparison with the conventional RBSMC system.