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Trajectory Control of Quadrotor Unmanned Aerial Vehicles with Sliding Mode Adaptive Method

This paper proposes a sliding mode adaptive control strategy for the trajectory control of quadrotor unmanned aerial vehicles (UAVs) when uncertain disturbances may exist in the system during flight. The proposed controller controls the position and attitude of a quadrotor UAV with control laws designed based on the sliding mode control theory. The external disturbances in the UAV system are accurately estimated and compensated based on an adaptive law. Stability analysis based on the Lyapunov stability theory shows that the designed adaptive controller can ensure the convergence to a desired trajectory under the presence of uncertain disturbances. Simulation results show that the robustness and control performance of the proposed adaptive controller is better than that of a PID controller and a controller based on sliding mode control only.