Modelling and Stabilizing Control Laws Design Based on Sliding Mode for an UAV Type-Quadrotor

Abstract

In this paper; we are interested principally in dynamic modelling of quadrotor while taking into account the high-order nonholonomic constraints in order to develop a new synoptic control scheme as well as the various physical phenomena, which can influence the dynamics of a flying structure. These permit us to introduce a new state- space representation and a new control scheme. We present also the development and the synthesis of a control algorithm based on sliding mode technique ensuring desired tracking trajectories, regulation and Lyapunov stability. Finally simulation results are also provided in order to illustrate the performances of the proposed controller. Keywords-Dynamic modelling, High-order nonholonomic Constraints, Sliding mode.