A novel fuzzy second order sliding mode control synthesis for a quadrotor

The problem of quadrotor full control has been intended in this paper. First a translational and rotational dynamic of a quadrotor has been introduced. A hybrid method containing sliding mode and fuzzy control have been used to deal against the disturbances effect of the quadrotor motion. Sliding mode control is robust and fast algorithm but it causes chattering phenomena which is harmful and infeasible to implement the controller. Therefore, the chattering effect has been attenuated by using fuzzy switching controller. Adaptive control laws have been used to decrease the effects of high gain values of constant parameters sensitivity to noises. A class of finite time second order has been used to improve and modify the sample first and second order sliding mode. The Lyapunov criterion and steady state analysis have been used to demonstrate the stability. Finally a group of quadrotor figures which has been calculated via simulation environment indicate that validation of proposed controller

Keywords:

Quadrotor , Sliding mode control , Fuzzy control , Adaptive control