Design of bi-power reaching law sliding mode controller based on exponential observer

Considering the complex nonlinear characteristics of the quadrotor system, such as underactuation, strong coupling and susceptibility to disturbance, the disturbance in real time can be estimated by the exponential convergent disturbance observer. Using the disturbance is input compensation. The exponentially convergent disturbance observer is used to resist unknown disturbances. In this paper, a double power reaching law sliding mode controller based on the exponential observer (EO-DSMC) is proposed by combining the exponential observer and the double power reaching rate sliding mode control method, it is applied to the attitude subsystem of the quadrotor unmanned aerial vehicle (UAV). Lyapunov theory is used to prove the stability of the system. Comparisons of the simulation of the single-machine flight between before and after adding the controller revealed that the designed controller is used to control UAV attitude better and enhanced system stability and anti-interference.