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A Fuzzy Sliding Mode Control Design for Quadcopter

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Proceedings of UASG 2019 (UASG 2019)

Part of the book series: Lecture Notes in Civil Engineering ((LNCE,volume 51))

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Abstract

In this paper, an intelligent and robust control approach is used for the control of a highly nonlinear quadcopter. A sliding mode controller is designed for both altitude and attitude control of the quadcopter. The switching gain of the sliding mode controller is tuned based on the fuzzy control technique. Rule base of the fuzzy logic controller is designed based on vast simulation and stability of the designed algorithm is shown. Mathematical derivations for roll pitch, yaw and altitude control is shown step by step. Different uncertain conditions are simulated by taking random disturbances and robustness under uncertain condition are guaranteed with the fuzzy sliding mode control technique. Simulation results show that the designed control algorithm works satisfactorily for both altitude and attitude control. Qualitative analysis is done for the performance of the designed fuzzy sliding mode controller. Finally, trajectory tracking of the quadcopter with attitude control is done.

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Author information

Authors and Affiliations

  1. Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, 247667, India

    Jagannath Samantaray & Sohom Chakrabarty

Authors
  1. Jagannath Samantaray
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  2. Sohom Chakrabarty
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Corresponding author

Correspondence to Jagannath Samantaray .

Editor information

Editors and Affiliations

  1. Department of Civil Engineering, Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India

    Kamal Jain

  2. Department of Infrastructure Engineering, University of Melbourne, Melbourne, VIC, Australia

    Kourosh Khoshelham

  3. School of Earth Atmosphere and Environment, Monash University, Melbourne, VIC, Australia

    Xuan Zhu

  4. Department of Civil Engineering, Indian Institute of Technology Roorkee, Roorkee, Uttarakhand, India

    Anuj Tiwari

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Samantaray, J., Chakrabarty, S. (2020). A Fuzzy Sliding Mode Control Design for Quadcopter. In: Jain, K., Khoshelham, K., Zhu, X., Tiwari, A. (eds) Proceedings of UASG 2019. UASG 2019. Lecture Notes in Civil Engineering, vol 51. Springer, Cham. https://doi.org/10.1007/978-3-030-37393-1_17

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  • DOI: https://doi.org/10.1007/978-3-030-37393-1_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-37392-4

  • Online ISBN: 978-3-030-37393-1

  • eBook Packages: EngineeringEngineering (R0)

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