Attitude Tracking of a Tri-Rotor UAV based on Robust Sliding Mode with Time Delay Estimation

The paper presents a robust sliding mode with time delay estimation method for controlling the attitude of a tri-rotor unmanned aerial vehicle (UAV) in presence of uncertainties and disturbances. The proposed control algorithm allows high accuracy tracking since a good disturbance estimation is provided using time delay estimation method and allows chattering reduction. The stability analysis of the closed-loop system is presented using the theory of Lyapunov. Finally, two numerical simulations are presented in the presence of disturbances to show the effectiveness of the proposed nonlinear control scheme.