Adaptive Sliding Mode Control for Quadrotor Aerial Robot with Ι Type Configuration

摘要

This paper presents an adaptive sliding mode control for trajectory tracking of quad rotor aerial robot with I type configuration. A continuous adaptive dynamic vector is used to eliminate the chattering phenomenon in the sliding mode control and the asymptotic stability is achieved. On the base of a nonlinear dynamic model of the quad rotor with I configuration, adaptive sliding mode nonlinear controller is synthesized for the purpose of stabilization and trajectory tracking of quad rotor. In order to validate the robustness of the proposed control method, the model deviations are modeled. It behaves perfectly at the reference altitude and trajectory track in simulation.