Adaptive Perturbation Estimator based Dynamic Control using PID Sliding Manifold for a Quadcopter UAV

This article proposes an adaptive perturbation estimator (APE) founded on a dynamic sliding control (DSC) for a quadcopter unmanned aerial vehicle (UAV). The presented controller is used to significantly remove the negative influences of uncertainties/perturbations to enhance the stabilization control performance of a UAV. First, an APE is introduced to approximate the unknown perturbations. Second, a DSC is developed by applying the conventional Proportional Integral Derivative (PID) function integrated with the Super-Twisting sliding algorithm and the approximated values to reimburse for the bad influences of disturbances on the system and remove the chattering phenomenon. The overall stability of the control system is proven by the Lyapunov theorem. The advantages and effectiveness of the proposed controller is confirmed through a simulation executed and compared with the previous controllers.