Adaptive Fuzzy Gain Scheduling Sliding Mode Control for quadrotor UAV systems

The quadrotor unmanned aerial vehicles (UAV) systems have been getting recently more focus from researchers and engineers due to its outstanding impact and broad applications in civilian and military sectors. In this paper, the quadrotor dynamic model has been introduced. Firstly, the sliding mode controller has been designed to control the attitude of the quadrotor as the inner loop controller. This research aims to reduce the chattering associated with the conventional sliding mode control (SMC), by applying the adaptive fuzzy gain scheduling SMC technique (AFGS-SMC). Secondly, PD controller has been implemented as an outer loop controller to control the quadrotor position. Finally, the performance of the proposed AFGS-SMC controller has been evaluated by simulation Matlab/Simulink, and compared with the conventional SMC, in terms of chattering attenuation and trajectory tracking.