Adaptive Fuzzy-Chebyshev Network-based Continuous Sliding Mode Controller for Quadrotor Unmanned Aerial Vehicle

The purpose of this paper, is to design a controller for quadrotor attitude system. The designed control law combines a continuous second-order sliding mode control (CSOSMC), the Fuzzy-Chebyshev network (FCN) and the adaptive control methodology. The FCN with adaptive parameters is exploited to approximate the nonlinear functions and improve the robustness against parametric uncertainties and external disturbances. Otherwise, the continuous sliding mode aims to completely eliminate the chattering phenomenon. The stability of the quadrotor attitude control system is proven by the Lyapunov stability approach. The simulation results demonstrate the capability and efficiency of the proposed technique in the presence of uncertainties and external disturbances.