Adaptive Sliding Mode Controller Design with Disturbance for Quadrotor

An adaptive PID sliding mode control method for 6 degree-of-freedom quadrotor is proposed in this paper. Firstly, the dynamic model of quadrotor UAV is introduced. Then the model is divided into two parts which include the position subsystem and attitude subsystem. Data that attitude subsystem required are generated from position subsystem. Secondly, the controller is designed based on PID sliding surface and the control gains of which can be estimated online. The stability of the control system was demonstrated by using Lyapunov stability theory. Finally, the simulation is carried out and simulation results show the effectiveness of the proposed method.