Fuzzy Sliding Mode Control with Chattering Elimination for a Quadrotor Helicopter in Vertical Flight

被引：0
|
作者：
Zeghlache, S. [1 ]
Saigaa, D. [1 ]
Kara, K. [2 ]
Harrag, Abdelghani [1 ]
Bouguerra, A. [1 ]
机构：
[1] Univ MSila, LASS Lab, Dept Elect, Fac Technol, BP 166, Ichbilia 28000, Algeria
[2] Univ Blida Algeria, Dept Elect, Fac Engn Sci, Blida, Algeria
来源：
HYBRID ARTIFICIAL INTELLIGENT SYSTEMS, PT I | 2012年 / 7208卷
关键词：
Sliding mode; Fuzzy Logic; Fuzzy Sliding Mode Control; quadrotor; Dynamic modeling;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
The control of the helicopter includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. This paper presents a control strategy for quadrotor helicopter, based on the coupling of the fuzzy logic control and sliding mode control (SMC), using a nonlinear sliding surface. The main purpose of this work is to eliminate the chattering phenomenon. To achieve our purpose we have used a fuzzy logic control to generate the hitting control signal, the results of our simulations indicate that the control performance of the quadrotor are satisfactory and the proposed fuzzy sliding mode control (FSMC) can achieve favorable tracking performance.
引用
收藏
页码：125 / 136
页数：12
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