Fuzzy – Sliding Mode Versus Integral Sliding Mode Controller for a Quadrotor with Mass Uncertainty under Effect of Wind

Abstract

This paper presents a fuzzy sliding mode controller (FSMC) and an integral sliding mode controller (ISMC) separately to control position of a quadrotor with an uncertain mass in the presence of wind disturbance and compares the operation of these controllers. Euler-Newton method is used to derive the quadrotor dynamic equations that considers the wind effect. The outer loop controller determines the desired angles of the quadrotor which are stabilized by a feedback linearization controller as the inner loop control. Also, the stability proof of FSMC and ISMC is done. Finally, simulation results are utilized to represent the operation of the control approaches and compare their performances.