Distributed Fuzzy Adaptive Sliding Mode Formation for Nonlinear Multi-quadrotor Systems

Document Type : Original Article


1 Department of Electrical Engineering, Islamic Azad University, Damavand Branch, Tehran, Iran

2 Department of Electrical Engineering, University of Qom, Qom, Iran

3 Department of Aerospace Engineering, Shahid Beheshti University, Tehran, Iran


This paper suggests a decentralized adaptive sliding mode formation procedure for affine nonlinear multi-quadrotor under a fixed directed topology wherever the followers are conquered by dynamical uncertainties. Compared with the previous studies which primarily concentrated on linear single-input single-output (SISO) agents or nonlinear agents with constant control gain, the proposed method is applied on affine nonlinear agents with nonlinear control gain such as the quadrotor. This designing procedure overcomes the problem of unknown nonlinear affine functions of the quadrotors. Fuzzy systems are engaged both to compensate recursively the unknown nonlinear functions and to apply the expert’s knowledge on the formation technique. On-line updating the controller parameters, achieving the formation of quadrotor, boundedness of all signals involved in the closed loop of the quadrotor, and chattering reduction are the focal features of the proposed formation methodology. To demonstrate the persistency and efficiency of the methodology, a numerical example of the multi-quadrotor system is considered in this paper.