Research of Robust Trajectory Tracking Control and Attenuated Chattering: Application on Quadrotor

Table 1

Fuzzy rules.

NB	NM	NS	ZO	PS	PM	PB
	PB	NS	PS	PM	PM	PM	PB	PB
	PM	NS	NS	PS	PS	PM	PB	PB
	PS	NM	NS	ZO	ZO	PS	PM	PB
	ZO	NM	NS	ZO	ZO	ZO	PS	PM
	NS	NM	NM	NS	ZO	ZO	PS	PM
	NM	NM	NM	NM	NS	NS	NM	PS
	NB	NB	NB	NB	NM	NM	NB	NB

PB: positive big, PM: positive middle, PS: positive small, NB: negative big, NM: negative middle, NS: negative small, and ZO: zero.