An improved trajectory tracking control of quadcopter using a novel Sliding Mode Control with Fuzzy PID Surface.

ABSTRACT: This paper presents Super Twisting Sliding Mode Control with a novel Fuzzy PID Surface for improved trajectory tracking of quadrotor unmanned aerial vehicles under external disturbances. First, quadrotor dynamic model with six degrees of freedom (6-DOF) is developed using Newton-Euler Method. Then, a robust Sliding Mode Control based on a new Fuzzy PID Surface is designed to be capable of automatically adjusting its gain parameters. The proposed SMC controller applies super twisting algorithm with PID surface to reduce chattering and a fuzzy logic controller to automatically adjust the gain parameters in order to enhance robustness. Furthermore, the solution to stability has been given by the Lyapunov method. The controller's performance is tested through various trajectories, parameter va

SUBMITTER: Gedefaw EA 

PROVIDER: S-EPMC11581241 | biostudies-literature | 2024

REPOSITORIES: biostudies-literature