Volume:
Volume 13 Abstract
In this paper, we present the result of nonlinear control technique applied to an autonomous quadrotor helicopter called X4-flyer. By using Sliding Mode procedure, we can stabilize the engine in hovering
and generate its desired trajectory. Moreover, the Fuzzy PI Sliding Mode controller is the combination of a Fuzzy Integral action and Sliding Mode action that is meant to ensure better performances in term of external load disturbance rejection in the controller system. We studied the robustness of the used controllers in the presence of specific disturbances. In the simulation studies, we considered the wind influence as an external disturbance. This allowed us to validate the effectiveness of the proposed control law.
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