Nonlinear Robust Control of a Quadcopter: Implementation and Evaluation

This work presents a second order sliding mode control(2-SMC) used to control a quadcopter vehicle. The controller is divided into two subcontrollers for both fully actuated and underactuated degrees of freedom. Stability of the proposed controller is tested in Lyapunov sense. Hardware development and experimental setups to implement the proposed nonlinear control technique on the quadcopter are presented. Several simulations are carried out to ensure the validity of the proposed control scheme. Experimental results show the robustness of the proposed SMC against external disturbances.