Adaptive Sliding Mode Controller and Observer for Altitude and Attitude Control of a Quadrotor

TL;DR

This paper introduces an adaptive sliding mode control and observer system for quadrotor altitude and attitude stabilization, effectively handling disturbances, noise, and uncertainties through Lyapunov-based design and numerical validation.

Contribution

It presents a novel adaptive sliding mode control approach with a full states observer for quadrotors, incorporating parameter estimation and disturbance rejection.

Findings

Effective stabilization and trajectory tracking demonstrated in simulations

Robustness against disturbances and noise confirmed

Accurate mass and state estimation achieved

Abstract

In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization, and trajectory tracking. Second part is used for parameters estimation where we focus in mass estimation, while the third part is the full states observation. Disturbances, sensors noise and parameter uncertainties, are taken into consideration. Sliding mode control law and observer adaptation are developed based on Lyapunov stability principle. Numerical simulations show the effectiveness of the proposed control technique