Robust Sliding Mode Control for Quadrotor UAV

This paper proposes an integral sliding mode control mechanism for autonomous quadrotor unmanned aerial vehicle. Compared to the classical sliding mode controller, the integral sliding mode method can provide more robustness control with significant compensation for uncertain model parameters and disturbance rejection. The dynamics model of the quadrotor is established using no small-angle assumption and taking into account the wind effect for translational and rotational motions. The improvements realized by the proposed controller are verified using a simulation example, where the performances of the developed control strategy are compared to those of a PID controller.