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Backstepping sliding mode controller improved with fuzzy logic: Application to the quadrotor helicopter
2012
Archives of Control Sciences
In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize the pitch and roll angles. A first-order nonlinear sliding surface is obtained using the backstepping technique, on which the developed sliding
doi:10.2478/v10170-011-0027-x
fatcat:zhsaahkrgjhdvovucwnztygzz4