Path-Following of a Quadrotor Using Fuzzy Sliding Mode Control

Alex S. Huaman-Loayza

Path-Following of a Quadrotor Using Fuzzy Sliding Mode Control

Alex S. Huaman-Loayza

Pontificia Universidad Católica del Perú

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

7 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 language	Spanish
Title of host publication	Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018
State	Published - 6 Nov 2018
Externally published	Yes

Cite this

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title = "Path-Following of a Quadrotor Using Fuzzy Sliding Mode Control",

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.",

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AB - 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.

M3 - Contribución a la conferencia

BT - Proceedings of the 2018 IEEE 25th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2018

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