Adaptive-fuzzy sliding-mode control for the attitude system of a quadrotor

Adaptive-fuzzy control has been shown to be an effective control approach for robustness of nonlinear systems. Sliding-mode control has fast response and insensitive to some class of uncertainty. The attitude system of the quadrotor determines its trajectory and the system is nonlinear, multi-variable, and coupled. In this paper, an adaptive-fuzzy sliding-mode controller is designed for the attitude system to track the desired pitch, roll and yaw angles, especially in the presence of external disturbance. A Lyapunov stability proof ensures the uniform ultimate boundedness of all signals. The simulation results demonstrate the high performance and robust stability of the proposed method.