Path-Following of a Quadrotor Using Fuzzy Sliding Mode Control

Alex S. Huaman-Loayza

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

This paper presents the design of a control strategy for positioning and path-following of a quadrotor based on sliding mode control integrated with a fuzzy logic approach to decrease the chattering and enhance robot performance. A novel hierarchical two-loop architecture is proposed to solve the positioning and path-following control problem. The effectiveness of the proposed control strategy is verified by simulation in a virtual environment for linear and nonlinear trajectories, where the quadrotor must attain and follow the desired trajectory with smooth, continuous and bounded control input values.
Original languageSpanish
Title of host publicationProceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
StatePublished - 6 Nov 2018
Externally publishedYes

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