Attitude and Position Control of Quadrotor UAV Using PD-Fuzzy Sliding Mode Control

摘要

In this paper designs PD-fuzzy sliding mode control for the quadrotor UAV to implement the trajectory-tracking mission. Firstly, dynamic model is introduced for quadrotor UAV. Secondly, the PD-fuzzy sliding mode control is proposed to make the real value of the UAV reach the desired value command, although the UAV is even with system uncertainties and disturbances. The convergence of the complete equations of motion of the UAV is proved by the Lyapunov stability theory. Computer simulation results illustrate the effectiveness of the proposed control schemes.