Fig 1.
Quadcopter configuration.
Fig 2.
Throttle.
Fig 3.
Roll.
Fig 4.
Pitch.
Fig 5.
Yaw.
Fig 6.
Block diagram of the proposed control strategy.
Table 1.
Fuzzy rules for error and PID sliding surface parameters.
Table 2.
Fuzzy rules for sliding surface and super twisting algorithm parameters.
Table 3.
Parameters of the quadcopter.
Fig 7.
Trajectory tracking for x-axis in spiral infinity path.
Fig 8.
Trajectory tracking for y-axis in spiral infinity path.
Fig 9.
Trajectory tracking for z-axis in spiral infinity path.
Fig 10.
3D trajectory tracking of a spiral infinity path.
Fig 11.
Trajectory tracking for x-axis in a square wave path.
Fig 12.
Trajectory tracking for y-axis in a square wave path.
Fig 13.
Trajectory tracking for z-axis in a square wave path.
Fig 14.
3D trajectory tracking of a square wave path.
Fig 15.
Trajectory tracking for x-axis in a ramp helix path.
Fig 16.
Trajectory tracking for y-axis in a ramp helix path.
Fig 17.
Trajectory tracking for z-axis in a ramp helix path.
Fig 18.
Trajectory tracking for psi in a ramp helix path.
Fig 19.
3D trajectory tracking of a ramp helix path.
Fig 20.
Disturbance rejection capacity of the proposed controller for the x-axis.
Fig 21.
Disturbance rejection capacity of the proposed controller for the y-axis.
Fig 22.
Disturbance rejection capacity of the proposed controller for the z-axis.
Fig 23.
Parameter variation handling capacity of the proposed controller for the x-axis.
Fig 24.
Parameter variation handling capacity of the proposed controller for the y-axis.
Fig 25.
Parameter variation handling capacity of the proposed controller for the z-axis.
Fig 26.
3D parameter variation handling capability of the proposed controller.
Fig 27.
Tracking response for the x-axis.
Fig 28.
Tracking response for the y-axis.
Fig 29.
Tracking response for the z-axis.
Fig 30.
Altitude controller effort of quadcopter.
Fig 31.
Attitude controller u2 effort for quadcopter.
Fig 32.
Attitude controller u3 effort for quadcopter.
Table 4.
IAE for t = 30 seconds.
Table 5.
ITE for t = 30 seconds.
Table 6.
ISE for t = 30 seconds.
Table 7.
ITSE for t = 30 seconds.
Table 8.
Force and Torque for t = 30 seconds.