Adaptive Sliding Mode Control of a Quadrotor with Tilting Rotors Transporting a Cable-Suspended Payload

In this paper, an adaptive sliding mode control is proposed for a Quadrotor with a Cable-Suspended Payload (QCSP), capable of tilting the rotors. By using the tilt of rotors, it is possible to eliminate the motion coupling of the underactuated quadrotor system, which is effective in stability. The Newton-uler method is used to derive the dynamic model of the QCSP. Moreover, Lyapunov second method is employed to prove the stability for the closed-form of the equations. Finally, a numerical simulation is carried out to evaluate the performance of the proposed control scheme in the presence of dynamic uncertainties and unknown disturbance, and it is compared with PID. The simulation results demonstrate the effectiveness of the proposed control scheme in dealing with uncertainty and disturbance.