Adaptive Quasi-Sliding Mode Tracking Control for Quadrotors with Input Saturation

This paper focuses on the robust adaptive tracking control problem of quadrotors with input saturation. The dynamic of the quadrotors is first decoupled into position and attitude models with unknown bounded uncertainties. An adaptive quasi-sliding mode control (AQSMC) strategy is designed to perform the position and attitude tracking control, in which the adaptive laws are designed to estimate the unknown saturation errors between the original inputs and the saturated inputs. It is shown with the Lyapunov direct method that all the signals of the closed-loop system are bounded, and the tracking errors converge to zero asymptotically. The advantage of the proposed control scheme is that the AQSMC suppresses sliding mode chattering and ensures the system tracks the target stably when the input is limited. Finally, simulation results verify the effectiveness of the AQSMC algorithm.