Trajectory tracking controller design for a quadrotor aircraft based on fuzzy sliding-mode control

This work addresses a trajectory tracking controller design using a fuzzy sliding-mode controller, which is mainly composed of the sliding-mode controller and the fuzzy inference mechanism, for a quadrotor aircraft, to follow the predetermined trajectory. In this study, a fuzzy sliding-mode controller with a sliding surface vector is proposed, such that a simple fuzzy inference mechanism is adopted with center of membership functions to estimate the switching function. Accordingly, the authors use the Lyapunov stability theory to achieve the stability analysis of the overall attitude tracking system degraded by periodic interference. Finally, extensive simulation results are obtained to validate the effectiveness of the fuzzy sliding-mode controller.