Chattering Free Sliding Mode Controller Design for a Quadrotor Unmanned Aerial Vehicle

In this paper, a nonlinear model for a Quadrotor Vertical Take-Off and Landing (VTOL) type of Unmanned Aerial Vehicles (UAVs) is firstly established for the attitude and position control. All aerodynamic forces and moments of the studied Quadrotor UAV are described within an inertial frame. Such a dynamical model is obtained using the Newton-Euler formalism. Secondly, an improved nonlinear Sliding Mode Control (SMC) approach is designed for this aircraft in order to stabilize its vertical flight dynamics, while avoiding the classical chattering problem. Since chattering phenomena is the most problematic issue in the sliding mode control applications, a Quasi Sliding Mode Control (QSMC) technique is used as a solution for the chattering avoidance in Quadrotor dynamics control. Demonstrative simulations are carried out in order to show the effectiveness of the proposed QSMC approach for the stabilization and tracking of various desired trajectories.

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