Sliding Mode Control for a Quadrotor Unmanned Aerial Vehicle

Abstract

ln this article the sliding mode controller is applied for a small unmanned helicopter called quadrotor. The dynamic model is established considering various physical phenomena that can influence its dynamic behavior. Subsequently, backstepping controller is designed. lts job is to generate commands to the four rotors. The objective is to drive the quadrotor to track desired Cartesians positions and desired orientation. The proposed controller is based on the Lyapunov stability. This control technique was checked in simulation and has given good performance.