Fuzzy Sliding Mode Control for Attitude of Flapping Wing Micro Aerial Vehicle Based on Variable Rate Reaching Law

A fuzzy sliding mode control scheme based on variable rate reaching law for attitude control of flapping wing micro aerial vehicle is proposed in this paper. Based on the feedback linearization technique, a sliding mode controller is designed. To faster response speed, a fuzzy controller is designed to adaptively tune the slope of sliding mode surface. To reduce the chattering, the variable rate reaching law is proposed. The variable rate reaching law is composed of the distance from current point to sliding mode surface in phase plane. The simulation studies for attitude control of a flapping wing micro aerial vehicle have been carried out. Simulation results show that the proposed control scheme is effective.