Modeling and Analysis of Non-linear Sliding Mode Control for UAV Path Following

This paper presents the non-linear dynamic model of a quadrotor built upon Newton-Euler laws. It touches on proving the equations in the state-space form that control the quadrotor's motion in the body frame. This is followed by proposing two control techniques to regulate the attitude and heading angles, the height, and the position (x and y) for the Crazyflie Quadrotor Unmanned Aerial Vehicle (CF-QUAV). The first technique is based on an SMC (Sliding Mode Control) non-linear controller. The second one is based on a PIDSMC (Proportional-Integral-Derivative Sliding Mode Controller). These two proposed controllers can replace the PID controller used in the CF-QUAV model. To achieve the optimum robustness and stabilize the Crazyflie model, the parameters of the proposed controllers were set using the Genetic Algorithm (GA). Experiments founded on simulation were executed to compare the performance of the developed-controller techniques with that of the PID controller with regard to dynamic performance and stability.