Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter

• Autorzy: Zeghlache S. , Saigaa D. , Harrag A. , Kara K. , Bouguerra A.
• Języki publikacji: EN

Abstrakty

EN

n 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 nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding mode controller is based. Mathematical development for the stability and convergence of the system is presented. The main purpose is to eliminate the chattering phenomenon. Thus we have used a fuzzy logic control to generate the hitting control signal. The performances of the nonlinear control method are evaluated by simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in vertical flights.

Słowa kluczowe

EN

fuzzy sliding mode; backstepping; quadrotor helicopter; dynamic modeling

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2012
• Tom: Vol. 22, no. 3
• Strony: 315--342
• Opis fizyczny: Bibliogr. 23 poz., rys., tab., wzory

Twórcy

autor

Zeghlache S.

autor

Saigaa D.

autor

Harrag A.

autor

Kara K.

autor

Bouguerra A.

• LASS Laboratory, Department of Electronics, Faculty of Technology, University of Msila, BP 166 Ichbilia 28000 Algeria,

Bibliografia

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