Development of a Sliding Mode Control Based Adaptive Fuzzy Controller for a Flapping Flight
This work addresses control challenges for flapping wing micro air vehicles, which have applications in surveillance and inspection, but it appears incremental as it combines existing methods like sliding mode control and fuzzy systems.
The paper tackled altitude control for a four-wing flapping flight micro air vehicle by proposing an adaptive fuzzy controller using sliding mode control theory, achieving stable closed-loop performance and adaptation to environmental disturbances.
Controlling of a flapping flight is one of the recent research topics related to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an adaptive control system for a four-wing FW MAV is proposed, inspired by its advanced features like quick flight, vertical take-off and landing, hovering, and fast turn, and enhanced manoeuvrability. Sliding Mode Control (SMC) theory has been used to develop the adaptation laws for the proposed adaptive fuzzy controller. The SMC theory confirms the closed-loop stability of the controller. The controller is utilized to control the altitude of the FW MAV, that can adapt to environmental disturbances by tuning the antecedent and consequent parameters of the fuzzy system.