Sliding mode control for a quadrotor UAV with parameter uncertainties

Abstract

In this paper, we use the recently developed second order sliding mode control approach to design a robust flight controller for a small quadrotor unmanned aerial vehicle (UAV). Due to the underactuated property of a quadrotor UAV, the flight controller can make the quadrotor move three positions and the yaw angle to their desired values and stabilize the pitch and roll angles. The flight controller is designed to provide robust position and attitude tracking control of a quadrotor UAV with respect to model parameter uncertainties. Simulations show that the designed controller robustly stabilizes a quadrotor UAV.