Abstract
In this paper, an intelligent and robust control approach is used for the control of a highly nonlinear quadcopter. A sliding mode controller is designed for both altitude and attitude control of the quadcopter. The switching gain of the sliding mode controller is tuned based on the fuzzy control technique. Rule base of the fuzzy logic controller is designed based on vast simulation and stability of the designed algorithm is shown. Mathematical derivations for roll pitch, yaw and altitude control is shown step by step. Different uncertain conditions are simulated by taking random disturbances and robustness under uncertain condition are guaranteed with the fuzzy sliding mode control technique. Simulation results show that the designed control algorithm works satisfactorily for both altitude and attitude control. Qualitative analysis is done for the performance of the designed fuzzy sliding mode controller. Finally, trajectory tracking of the quadcopter with attitude control is done.
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