Fuzzy adaptive sliding mode control for unmanned quadrotor

Abstract

In this research, a fuzzy adaptive fault control scheme for a kind of second order systems is presented. This method can be effectively applied in quadrotor helicopter. This FTC strategy is based on fuzzy logic control and adaptive sliding mode theory. The unknown function has been approximated by the fuzzy logic control strategy. The online adaptive estimation scheme compensate for the effect the system actuator fault tolerant control without the fault detection and diagnosis in advanced. The disturbances of the system is adaptively estimated by adaptive laws. It is able to eliminate the chattering phenomenon which caused by sliding mode control and realize the robust performance. The system is globally asymptotically stable through the Lyapunov function. The availability and feasibility of the proposed methodology are demonstrated by the simulations results. The controllers for the quadrotor aircraft in the presence of actuator fault are given to illustrate the effectiveness.