Path-Following of a Quadrotor Using Fuzzy Sliding Mode Control

摘要

This paper presents the design of a control strategy for positioning and path-following of a quadrotor based on sliding mode control integrated with a fuzzy logic approach to decrease the chattering and enhance robot performance. A novel hierarchical two-loop architecture is proposed to solve the positioning and path-following control problem. The effectiveness of the proposed control strategy is verified by simulation in a virtual environment for linear and nonlinear trajectories, where the quadrotor must attain and follow the desired trajectory with smooth, continuous and bounded control input values.