Design of Fuzzy Sliding Mode Controller for Trajectory Tracking of Quadrotor UAV

This paper investigates the robust control problem of trajectory tracking for quadrotor UAVs with consideration of external disturbances. By establishing the system models for the position outer loop and attitude inner loop of the quadrotor UAV, a dual closed loop fuzzy terminal sliding mode controller is designed based on terminal sliding mode control theory and fuzzy control technology. The stability of the proposed control strategy for the quadrotor UAV is proven using Lyapunov function, and the effectiveness of the control scheme is validated through digital simulations