Abstract-Adaptive control algorithms are of interest in flight control systems design not only for their capability to improve performance and reliability but also for handling aerodynamic parameter uncertainties, external disturbances and modeling inaccuracies. In this paper, a direct adaptive sliding mode control is developed for the quadrotor attitude stabilization and altitude trajectory tracking. First, developed controller is applied without considering disturbances and parameter uncertainties. After, a centered white gaussian noise with some parameter uncertainties are added to the considered output vector, mass and inertia matrix, respectively. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Numerical simulations are performed showing the robustness of the proposed control technique.
REF handled modelling inaccuracies and presented an adaptive sliding mode controller for the quad-rotor attitude stabilisation and altitude trajectory tracking.
Adaptive sliding mode control for quadrotor attitude stabilization and altitude tracking
2011 IEEE 12th International Symposium on Computational Intelligence and Informatics (CINTI)
2011 IEEE 12th International Symposium on Computational Intelligence and Informatics (CINTI)
Computer Science