Fuzzy integral sliding mode based on backstepping control synthesis for an autonomous helicopter

Zemalache Meguenni Kadda 1 M. Tahar 1 M.R. Benhadria 1 Yasmina Bestaoui 2
1 LDEE
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : In this article, we present the result of a nonlinear control technique applied to an autonomous quadrotor helicopter called X4-flyer. Using sliding mode-backstepping procedure, we can stabilize the engine in hovering mode. Moreover, for rejecting external load disturbance, two controls are presented: proportional-integral sliding mode-backstepping which is the combination between proportional-integral and sliding mode-backstepping into the so-called integral sliding modebackstepping and the second is fuzzy integral sliding mode-backstepping. Finally fuzzy integral sliding mode-backstepping controller is investigated, where a fuzzy inference mechanism is used to achieve position tracking objective. The robustness of the controllers is studied in the presence of disturbances. Simulation results are also provided in order to illustrate the performances of the proposed controller versus the wind.
keyword : Autonomous quadrotor Dynamic modeling Fuzzy integral control Sliding mode-backstepping control Tracking control
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Journal articles
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https://hal.archives-ouvertes.fr/hal-00844427
Contributor : Frédéric Davesne <>
Submitted on : Monday, July 15, 2013 - 11:20:58 AM
Last modification on : Monday, October 28, 2019 - 11:00:10 AM

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Zemalache Meguenni Kadda, M. Tahar, M.R. Benhadria, Yasmina Bestaoui. Fuzzy integral sliding mode based on backstepping control synthesis for an autonomous helicopter. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, SAGE Publications, 2013, 227 (5), pp.751--765. ⟨10.1177/0954410012442119⟩. ⟨hal-00844427⟩

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