Modeling and Robust Integral Sliding Mode Control for a Quadrotor Unmanned Aerial Vehicle

In the last years, many research studies have been presented on quadrotors due to their different applications in daily life. In this paper, a complete mathematical model of generalized flight is developed based on the Newton-Euler method. This one takes into account external disturbances (aero-dynamic forces and moments) acting on the vehicle. A nonlinear control strategy based on the sliding mode control technique has been designed. This controller is employed to control the drone attitude and position as well as to compensate for external disturbances acting on the quadrotor. The stability of the system in closed-loop is ensured by Lyapunov's theorem and analysis. A control method integral sliding mode controller (ISMC) has been developed to improve the controller performance of the SMC. The problem of chattering in the suggested controllers was treated without degradation of the system performance (precision, rapidity, robustness). Finally, to validate the choice of controllers proposed, several simulations were developed with the presence of aerodynamic disturbances.