Integral Sliding Mode Control for Path Tracking of a Minirotorcraft Unmanned Aerial Vehicle

In the following paper, we present the design of a new control algorithm to solve the tracking problem for a small rotor-craft (RUAV). The detailed mathematical modeling of the rotor-craft dynamics is presented. The control strategy is developed via a robust integral sliding mode technique to track the reference trajectory for altitude motion in presence of wind disturbance. The performances of the nonlinear control are evaluated in simulation and the results demonstrate the effectiveness of our control strategy.