Fuzzy Adaptive Terminal Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle

Abstract:

A fuzzy adaptive terminal sliding mode control scheme for the attitude of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a terminal sliding mode controller is designed. The singularity of the controller can be solved through switching between terminal sliding mode surface and linear sliding mode surface. To reduce the chattering in the control input, a fuzzy controller is designed to adaptively adjust the gain of the terminal sliding mode controller according to the normal of the terminal sliding mode surface. The stability of the control scheme is verified by using Lyapunov theory. Simulation results show that the proposed control scheme is effective.

• Periodical: Advanced Materials Research (Volumes 605-607)
• Pages: 1478-1482
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.605-607.1478
• Online since: December 2012
• Authors: Wen Hua Lu, Sheng Bin Hu, Jian Wei, Da Min Cao
• Keywords: Attitude Control, Flapping Wing Micro Aerial Vehicle, Fuzzy Control, Sliding Mode Control

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