Fuzzy sliding-mode control for a Mini-UAV

This work addresses a fuzzy sliding-mode controller, which is mainly composed of the sliding mode controller and the fuzzy inference mechanism, for a mini unmanned air vehicle (UAV) with propellers to follow the predetermined trajectory. In this paper, a sliding-mode controller with a sliding surface is designed. And a fuzzy sliding-mode controller is proposed, such that a simple fuzzy inference mechanism is adopted to estimate the upper bound of lumped uncertainty. Therefore, the fuzzy sliding-mode controller is proposed in which the fuzzy inference mechanism with centre of membership functions is investigated. Accordingly, trajectory tracking control of a mini-UAV using the proposed control strategies is illustrated while a mini-UAV is flying. Finally, we employ the Lyapunov stability theory to achieve the stability analysis of the overall nonlinear tracking system. Extensive simulation results are obtained to validate the effectiveness of the fuzzy sliding-mode controller.