Attitude and Position Control of Quadrotor UAV Using PD-Fuzzy Sliding Mode Control

  • Jong Ho Han
  • Yi Min Feng
  • Fei Peng
  • Wei Dong
  • Xin Jun Sheng
Conference paper
First Online:
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10464)

Abstract

In this paper designs PD-fuzzy sliding mode control for the quadrotor UAV to implement the trajectory-tracking mission. Firstly, dynamic model is introduced for quadrotor UAV. Secondly, the PD-fuzzy sliding mode control is proposed to make the real value of the UAV reach the desired value command, although the UAV is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the UAV is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes.

Keywords

Quadrotor PD-Fuzzy Sliding mode Disturbance Lyapunov 
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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Jong Ho Han
    • 1
  • Yi Min Feng
    • 2
  • Fei Peng
    • 2
  • Wei Dong
    • 1
  • Xin Jun Sheng
    • 1
  1. 1.School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghaiChina
  2. 2.Shanghai Pujiang Bridge and Tunnel Operation Management Co. Ltd.ShanghaiChina

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