Spatial modeling, identification and adaptive second order sliding mode control of a micro air vehicle

This paper addresses the modeling, identification and adaptive sliding mode control for a quadrotor micro aerial vehicle. In order to obtain a compact kinematics and dynamics representation, the spatial vectors convention is used, making more efficiently the model computation by reducing the number of algebraic operations. Identification of parameters such as inertia moments, thrust and torque of the motor-propeller with motor features by means of estimation and experimental tests are also included. In addition, a flight control based on a recent adaptive second order sliding mode control is designed. This controller allows to mitigate external disturbances with unknown bounds. Simulation results shows the feasibility and attractiveness of the proposed set up.