Adaptive fuzzy sliding-mode control for a mini-UAV with propellers

This approach presents an adaptive fuzzy sliding-mode controller, mainly focusing on the sliding-mode controller and the fuzzy inference mechanism as well as the adaptive algorithm, for a mini unmanned aerial vehicle (mini-UAV) with propellers to follow the predetermined trajectory. First a sliding-mode controller with a switching variable is designed. Next a fuzzy sliding-mode controller is investigated in which a simple fuzzy inference mechanism is employed to estimate the upper bound of lumped uncertainty. Then the adaptive fuzzy sliding-mode controller is proposed in which the fuzzy inference mechanism with centre adaptation of membership functions is investigated to estimate the optimal bound of uncertainties. Accordingly, trajectory tracking control of a mini-UAV using the proposed control strategies is illustrated while flight. Finally, we employ the Lyapunov stability theory to fulfill the stability analysis of the proposed controller for the overall nonlinear control system. Extensive simulation results are gained to validate the effectiveness of the adaptive fuzzy sliding-mode controller.