Real-Time Evaluation of Predictive Fuzzy Terminal Sliding Mode Controller for Quadrotors
2026 International Conference on Control, Automation and Diagnosis (ICCAD), Lisbon, Portekiz, 7 - 09 Temmuz 2026, ss.1-6, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/iccad69956.2026.11643017
- Basıldığı Şehir: Lisbon
- Basıldığı Ülke: Portekiz
- Sayfa Sayıları: ss.1-6
- Kocaeli Üniversitesi Adresli: Evet
Özet
This paper introduces a practical solution for quadrotors under the
effect of time delays. In actual control systems, time delays are
inevitable because of the communication delays, heavy algorithm
computations, and sensing delays. These delays have the potential to
cause instability and deteriorate system performance if they are not
appropriately addressed. In this paper, a Smith predictor is introduced
to reduce the negative impacts of time delays and maintain closed-loop
stability. However, the Smith predictor's performance may be hindered by
modeling inaccuracies, and its effectiveness depends on a precise
system model. A robust terminal sliding mode controller with a new
sliding surface is suggested as a solution to this problem.
Additionally, a fuzzy logic-based switching function is used in place of
the discontinuous signum function to lessen noise impacts and
chattering. Real-time results using a quadrotor platform show that the
proposed methods can effectively control the platform with smaller
tracking errors and reduced levels of chattering and noise. Also, it
achieves at least a 27% improvement in the tracking error relative to
other methods for the worst scenario.