Fuzzy Adaptive Sliding‐Mode Control Optimized by an Arithmetic Optimization Algorithm for a Quadrotor Drone With Chaotic Nonlinear Dynamics

ABSTRACT An optimal fuzzy adaptive sliding mode controller (OFASMC) is introduced in the present paper for stabilizing a quadrotor drone with chaotic and nonlinear dynamics. At first, control efforts related to the motor torques of the regarded quadrotor drone are determined by the sliding mode procedure as the main stabilizer. Next, using the gradient descent formulation as well as the chain derivative rule, the control gains are adapted through the system states. Then, human knowledge‐based fuzzy systems are appropriately designed to set the control parameters for achieving more accurate results. The output errors and control efforts are minimized through the optimum values found for the effective coefficients of the controller by applying the Arithmetic Optimization Algorithm (AOA). Simulation results clearly illustrate the effectiveness of the introduced strategy to stabilize the quadrotor drone system with and without external disturbances.