An Effective Dynamic Sliding Mode Control Based Nonlinear Disturbance Observer for a Quadrotor UAV

This paper introduces an effective dynamic sliding mode control based on a nonlinear disturbance observer (NDO) for a quadrotor. The proposed algorithm is used to supply a fast adaptation and strictly robust stability for attitude control of the vehicle. First, a NDO is used to approximate the external disturbance. Second, an effective dynamic sliding mode controller (SMC) is designed by using the estimated values of disturbances to compensate for the effect of these perturbations. The stability of a control system is proven by Lyapunov theory. A numerical simulation was performed and compared to existing methods to demonstrate the robustness and effectiveness of the proposed algorithm.