A quadrotor integral sliding mode control based on mass estimation

In this paper, a sliding mode control algorithm based on variable mass estimation for quadrotor is studied. Firstly, based on the Newton Euler’s formula, a mathematical model of the variable-mass quadrotor is established. Secondly, an adaptive algorithm for variable quality estimation is presented and the estimated results are fed forward to control the attitude system. To obtain satisfactory trajectory tracking performance, a sliding mode controller is designed to track the desired position. Meanwhile, the estimation is used to track the desired attitude. Finally, the simulation results prove that the designed algorithm based on quality change has good control performance.