Adaptive Sliding Mode Controller for Attitude Quadrotor Based on Finite-Time Differentiator with Input Saturation

This paper presents an adaptive attitude control strategy based on a finite-time convergent differentiator for an unmanned aerial vehicle (UAV) using a sliding mode control combined with an auxiliary system with finite time differentiator as an estimator. Initially, the sliding mode control approach is proposed to stabilize the quadrotor by controlling the rotation angles under the external disturbance, uncertainties and actuator saturation compensator. Then, a finite-time differentiator is designed and included in the system feedback to ensure an accurate estimation of the full state even in the presence of noise, to address the parametric selection drawback a fuzzy system is proposed for the purpose of tuning the differentiator parameters. The stability of the overall system is proved by the Lyapunov theory and the simulation results shown the effectiveness of the proposed control are presented.