eprintid: 14605 rev_number: 2 eprint_status: archive userid: 1 dir: disk0/00/01/46/05 datestamp: 2023-11-10 03:29:11 lastmod: 2023-11-10 03:29:11 status_changed: 2023-11-10 01:57:20 type: article metadata_visibility: show creators_name: Abro, G.E.M. creators_name: Zulkifli, S.A.B.M. creators_name: Asirvadam, V.S. creators_name: Ali, Z.A. title: Model-free-based single-dimension fuzzy smc design for underactuated quadrotor uav ispublished: pub note: cited By 15 abstract: The underactuated quadrotor unmanned aerial vehicle (UAV) is one of the nonlinear systems that have few actuators as compared to the degree of freedom (DOF); thus, it is a strenuous task to stabilize its attitude and positions. Moreover, an induction of unmodelled dynamic factors and uncertainties make it more difficult to control its maneuverability. In this paper, a model-free based single-dimension fuzzy sliding mode control (MFSDF-SMC) is proposed to control the attitude and positions of underactuated quadrotor UAV. The paper discusses the kinematic and dynamic models with unmodelled dynamic factors and unknown external disturbances. These unmodelled factors and disturbances may lead the quadrotor towards failure in tracking specific trajectory and may also generate some serious transient and steady-state issues. Furthermore, to avoid the problem of gimbal lock, the model is amalgamated with hyperbolic function to resolve the singularity issues dully developed due to Newton Euler�s dynamic modeling. The simulation results performed for MFSDF-SMC using MATLAB software R2020a are compared with conventional sliding mode control, fuzzy-based sliding control and single-dimension fuzzy-based sliding mode control without a model-free approach. The design and implementation of the model-free single dimension-based fuzzy sliding mode control (MFSDF-SMC) with an updated Lyapunov stability theorem is presented in this work. It is observed that MFSDF-SMC produces robust trajectory performance therefore, and the manuscript suggests the experimental setup to test the proposed algorithm in a noisy environment keeping the same conditions. The verification of the equipment used and its effective demonstration is also available for the reader within the manuscript. © 2021 by the authors. Licensee MDPI, Basel, Switzerland. date: 2021 publisher: MDPI AG official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85113796915&doi=10.3390%2fact10080191&partnerID=40&md5=f5124f5b00088bb937842fd81777562e id_number: 10.3390/act10080191 full_text_status: none publication: Actuators volume: 10 number: 8 refereed: TRUE issn: 20760825 citation: Abro, G.E.M. and Zulkifli, S.A.B.M. and Asirvadam, V.S. and Ali, Z.A. (2021) Model-free-based single-dimension fuzzy smc design for underactuated quadrotor uav. Actuators, 10 (8). ISSN 20760825