ACO Based Optimal MIMO Sliding Mode Controller for UAV Trajectory Tracking in the Presence of Sensor Noises

In this paper, an optimized nonlinear robust Multi-Input Multi-Output (MIMO) Sliding Mode Controller is designed to control and stabilize a Quadrotor Unmanned Aerial Vehicle (UAV) in the presence of sensor noises. To achieve asymptotic linearisation of the nonlinear differential input-output model of the Quadrotor, the proposed method employs a novel sliding surface choice. The parameters of the proposed controller have been selected using the Ant Colony Optimization (ACO) algorithm considering a performance criteria in order to achieve a trade-off between the tracking error and the consumed energy. A generalized Lyapunov approach is used to evaluate the overall system's stability, which is a canonical state space with dynamic feedback. Simulation results are provided to validate the pro-posed controller and evaluate its performance.