A Robust Backstepping Sliding Mode Controller with Chattering-Free Strategy for a Swarm of Drones

Abstract

This paper presents a robust controller for a swarm of drones that are subjected to external disturbances. Integrating a fuzzy-based system in the sliding mode control technique, a chattering-free controller is proposed for the trajectory tracking of a drone. Furthermore, the formation controller for a group of drones is developed using the Backstepping control design technique. The integration of a fuzzy rule-based system in the sliding mode tracking controller enables overcoming the inherent chattering problem due to discontinuous switching function in the sliding mode control technique and provides smooth and chattering-free control signals. The asymptotic stability of the overall system is shown using the Lyapunov stability theory. Finally, the control design performance is evaluated using numerical simulations.