A Novel Adaptive Sliding Mode Control for Quadrotor

In this paper, a novel adaptive sliding mode control scheme is designed for quadrotor. The sliding mode functions for attitude subsystem and position subsystem are given, and the adaptive law is proposed considering the external disturbances. Meanwhile, this paper views the quadrotor as a variable-mass model, so the adaptive law is also designed for the mass of quadrotor. A rigorous stability analysis of the control method is provided in the sense of Lyapunov stability theorem under given conditions. A dual closed-loop PID controller is introduced and made to compare with adaptive sliding mode controller. The comparative simulations are conducted based on MATALB, the experimental results showing that the proposed control method can provide better flight control performance and improve robustness of the system despite external disturbances.