Adaptive Sliding Mode Control for the Quadrotor with unknown Disturbance and Uncertain Parameters

Abstract

With the convenience of maneuvering and taking off easily, quadrotors are becoming more and more popular in military as well as civilian applications recently. The quadrotor is an under-actuated system. Moreover, in the presence of the external disturbance and uncertainties, it’s even more difficult to control. Therefore, the study of flight control algorithms for the quadrotor is absolutely necessary and that is also the main purpose of this study. First, the trajectory tracking problem without disturbance and uncertainties is solved by a backstepping controller (BSC). Then, an adaptive backstepping sliding mode controller (ABSMC) is investigated to solve the influence of external disturbance. Next, a controller was developed from the ABSMC controller to ensure that the tracking errors converge to zero while the coefficients of air resistance are unknown. In addition, all control algorithms are analyzed for stability. Finally, several simulations are performed to verify as well as compare with the studied control algorithms.