Sliding Mode Control Improvement by using Model Predictive, Fuzzy Logic, and Integral Augmented Techniques for a Quadrotor Helicopter Model

  • Amir Hossein Zaeri Department of Electrical Engineering, Shahinshahr Branch, Islamic Azad University, Shahinshahr, Iran.
  • Aida Esmaeilian-Marnani Department of Electrical and Computer Engineering, Mobarakeh Branch, Islamic Azad University, Mobarakeh, Isfahan, Iran
  • Samsul Bahari Mohd Noor Department of Electrical and Electronic Engineering, Faculty of Engineering, University Putra Malaysia, Serdang, Malaysia.
Keywords: Quadrotor Helicopter, Model Predictive Control, Sliding Mode Control, Fuzzy Logic Control


In this paper, a new control method is adopted based on merging multi-input integral sliding mode control with boundary layer (ISMC-BL), model predictive control (MPC), and fuzzy logic control (FLC). The aim of this merging is to take advantage of MPC ability to deal with constraints and to gain optimal solution. Moreover, FLC is considered in designing the sliding surface based on fuzzy rules and tracking error. This method is simulated on a nonlinear quadrotor helicopter model. The results reveal that the proposed control approach, which is a multi-input model predictive fuzzy integral sliding mode control with boundary layer (MPFISMC-BL), is a robust, stable, optimal, and intelligent control scheme. This finding can contribute to improve the control of similar systems.


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How to Cite
Zaeri, A. H., Esmaeilian-Marnani, A., & Mohd Noor, S. (2019). Sliding Mode Control Improvement by using Model Predictive, Fuzzy Logic, and Integral Augmented Techniques for a Quadrotor Helicopter Model. Majlesi Journal of Electrical Engineering, 13(4), 25-37. Retrieved from