Chattering free sliding adaptive attitude control for quadrotor

This paper investigates the quadrotor attitude tracking control problem in the presence of external disturbance and inertia uncertainty. An error quaternion based adaptive sliding mode control scheme is proposed in this paper. Adaptive control theory is applied to estimate inertia parameters and the upper bound of external disturbance. Lyapunov stability theory is applied to prove the stability of the controller. Simulation results are presented to demonstrate the performance and robustness of the controller.