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This paper introduces a Fuzzy-based Control Law for Quadrotor trajectory tracking, addressing actuator saturation, external disturbances, and parametric uncertainties. The robust Discrete Sliding Mode Control (DSMC) law, enhanced with fuzzy logic, schedules gains for discontinuous control and reachability, following Gao’s reaching law. Asymptotic stability is verified using the Lyapunov-second principle. MATLAB SIMULINK validates the control law with a helical trajectory tracking problem, confirming its robustness and effectiveness. The Fuzzy Gain Scheduled Discrete Sliding Mode Control Law (FGS-DSMC) outperforms alternative methodologies in tracking accuracy and performance indices, against partially fuzzy gain scheduled DSMC and fuzzy gain scheduled Continuous Sliding Mode Control, while also reducing chattering.

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Fuzzy Gain Scheduled Discrete Sliding Mode Control Law for Trajectory Tracking of Quadrotors

  • 会议论文

  • 发表日期：

    2025年

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  • Biswapratim Roy,
  • Aritro Dey,
  • Jayati Dey

摘要

This paper introduces a Fuzzy-based Control Law for Quadrotor trajectory tracking, addressing actuator saturation, external disturbances, and parametric uncertainties. The robust Discrete Sliding Mode Control (DSMC) law, enhanced with fuzzy logic, schedules gains for discontinuous control and reachability, following Gao’s reaching law. Asymptotic stability is verified using the Lyapunov-second principle. MATLAB SIMULINK validates the control law with a helical trajectory tracking problem, confirming its robustness and effectiveness. The Fuzzy Gain Scheduled Discrete Sliding Mode Control Law (FGS-DSMC) outperforms alternative methodologies in tracking accuracy and performance indices, against partially fuzzy gain scheduled DSMC and fuzzy gain scheduled Continuous Sliding Mode Control, while also reducing chattering.