Fuzzy integral sliding mode based on backstepping control synthesis for an autonomous helicopter
- 30 April 2012
- journal article
- research article
- Published by SAGE Publications in Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering
- Vol. 227 (5) , 751-765
Abstract
In this article, we present the result of a nonlinear control technique applied to an autonomous quadrotor helicopter called X4-flyer. Using sliding mode-backstepping procedure, we can stabilize the engine in hovering mode. Moreover, for rejecting external load disturbance, two controls are presented: proportional-integral sliding mode-backstepping which is the combination between proportional-integral and sliding mode-backstepping into the so-called integral sliding mode-backstepping and the second is fuzzy integral sliding mode-backstepping. Finally fuzzy integral sliding mode-backstepping controller is investigated, where a fuzzy inference mechanism is used to achieve position tracking objective. The robustness of the controllers is studied in the presence of disturbances. Simulation results are also provided in order to illustrate the performances of the proposed controller versus the wind.Keywords
This publication has 16 references indexed in Scilit:
- An integral predictive/nonlinear control structure for a quadrotor helicopterAutomatica, 2010
- Robust tracking control of an underactuated quadrotor aerial-robot based on a parametric uncertain model2009
- Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopterInternational Journal of Control, Automation, and Systems, 2009
- Controlling a drone: Comparison between a based model method and a fuzzy inference systemApplied Soft Computing, 2009
- Feedback linearization and continuous sliding mode control for a quadrotor UAV2008
- Modeling and Backstepping-based Nonlinear Control Strategy for a 6 DOF Quadrotor HelicopterChinese Journal of Aeronautics, 2008
- Sliding mode control of a class of underactuated systemsAutomatica, 2008
- High‐order sliding‐mode observer for a quadrotor UAVInternational Journal of Robust and Nonlinear Control, 2007
- Two inertial models of X4-flyers dynamics, motion planning and controlIntegrated Computer-Aided Engineering, 2007
- Control of an under-actuated system: application a four rotors rotorcraft2005