Robust Adaptive Sliding Mode Control Design for Quadrotor Unmanned Aerial Vehicle Trajectory Tracking

Abstract

The quadrotor unmanned aerial vehicles (UAV) systems have been getting recently more focus from researchers and engineers due to their outstanding impact and wide range of applications either in civilian or military. In this article, the sliding mode controller has been designed to control the attitude of the quadrotor as the inner loop controller. The aim of this research is to reduce the chattering associated with the conventional sliding mode control (SMC), by implementing the adaptive fuzzy gain scheduling SMC technique (AFGS-SMC), meanwhile, the performance of the proposed control has been evaluated in the presence of the model parameters uncertainty. PD controller has been implemented as an outer loop controller to control the quadrotor position. Finally, the performance of the proposed AFGS-SMC controller has been evaluated by simulation in Matlab/Simulink platform, and compared with the classical SMC, in terms of chattering attenuation and parameter uncertainty in the mass of the quadrotor UAV.