Attitude Control of Quadrotor UAV Based on Adaptive Sliding Mode Control

As a typical non-linear and under-actuated system for a quadrotor, it is difficult to achieve flight control that meets performance in various natural scenarios. Therefore, this paper focuses on the adaptive sliding mode control algorithm of the quad-rotor aircraft. The main research results are as follows: a complete nonlinear mathematical model including internal parameter perturbation and external disturbance is established, then an adaptive sliding modebased aircraft control algorithm is designed, and which stability is proved by Lyapunov function. The MATLAB numerical simulation compares and verifies the adaptive sliding mode control algorithm, sliding mode control algorithm and PID control algorithm in two scenarios of tracking fixed point and trajectory tracking. Finally, it is concluded from experiments that the speed and robustness of the adaptive sliding mode control algorithm is far better than that of the PID control algorithm.