Adaptive Fuzzy Sliding Mode Control for a Model-Scaled Unmanned Helicopter

Abstract

This paper presents a novel Adaptive Fuzzy Sliding Mode Controller (AFSMC) for a model-scaled unmanned helicopter as real nonlinear plant. First, in order to efficient control law design, the nonlinear model of the helicopter is reformulated as an affine nonlinear system. To do this aim, a Dynamic Inverter (DI) is introduced as a bijective function. The proposed DI is used to interconnect the helicopter actuators' main inputs to the helicopter dynamic inputs. Then, AFSMC is designed to control it, and the asymptotic stability of the closed loop system is proved using Lyapunov stability theorem. To verify the merits of the proposed controller, it is compared with traditional sliding mode control system. Simulation results confirmed that the controller as a robust and stable control method has desired controlling performance and well cope with the undesirable chattering phenomenon.