Fuzzy-Based Disturbance Rejection Control via Integral Sliding Mode for a Quadrotor Aerial Vehicle

This work deals with an adaptive disturbance rejection controller which combines the equivalent control based integral sliding mode control (ISMC) strategy and a Mamdani fuzzy inference system (FIS) for trajectory tracking of a quadrotor vehicle subject to Dryden-type wind gusts. The FIS carries out an on-line estimation of the time constant of a low-pass filter (LPF) to extract the equivalent control from the discontinuous control signal. This strategy dynamically estimates the disturbances and uncertainties acting on the plant. The estimated disturbances are compensated via a feedback control law making the system insensitive to these undesired effects. Finally, numerical simulations to evaluate the proposed controller performing a simulated quadrotor flying inspection task are presented.