Model-Free-Based Single-Dimension Fuzzy SMC Design for Underactuated Quadrotor UAV

The underactuated quadrotor unmanned aerial vehicle (UAV) is one of the nonlinear systems that have few actuators as compared to degree freedom (DOF); thus, it a strenuous task stabilize its attitude and positions. Moreover, an induction unmodelled dynamic factors uncertainties make more difficult control maneuverability. In this paper, model-free based single-dimension fuzzy sliding mode (MFSDF-SMC) proposed positions UAV. paper discusses kinematic models with unknown external disturbances. These disturbances may lead towards failure in tracking specific trajectory also generate some serious transient steady-state issues. Furthermore, avoid problem gimbal lock, model amalgamated hyperbolic function resolve singularity issues dully developed due Newton Euler’s modeling. simulation results performed for MFSDF-SMC using MATLAB software R2020a are conventional control, fuzzy-based without approach. design implementation single dimension-based updated Lyapunov stability theorem presented work. It observed produces robust performance therefore, manuscript suggests experimental setup test algorithm noisy environment keeping same conditions. verification equipment used effective demonstration available reader within manuscript.