Trajectory tracking control of a quadrotor via fuzzy terminal sliding mode controller in the presence of uncertainty

Abstract

The purpose of this research is to design a robust controller in the presence of noise and uncertainty for trajectory tracking of a quadrotor flying robot. This paper presents a new method in which fuzzy logic controller is used to determine the optimal controller coefficients of a high order sliding mode controller. This method improves control behaviors against parametric uncertainty for a quadrotor trajectory tracking control. Results of simulation in two cases with parametric uncertainty and without uncertainty for trajectory tracking control demonstrate robustness and good performance of the proposed controller against uncertainty.