Abstract
In This paper, a mixed robust sliding mode with fuzzy logic controller is applied to a nonlinear quadrotor Unmanned Aerial Vehicle (UAV). Based on the technique of variable structure control (VSC) with sliding mode, we can construct the controller that possesses the merits of both fuzzy Logic Controller (FLC) and Sliding Mode Controller (SMC), It is called a Fuzzy Sliding Mode Controller (FSMC). It provides a simple way to solve the main drawback of VSC by reducing the amount of chattering effect using a fuzzy control part in the proposed controller. Also, the VSC part makes the system stable which treats the main disadvantage of fuzzy controller when being used alone. Numerical simulation of the proposed controller is presented and discussed. Furthermore, a comparison with the SMC is also made.