Spatial Modeling and Robust Flight Control Based on Adaptive Sliding Mode Approach for a Quadrotor MAV

Abstract

This paper addresses the design of a robust flight control for a quadrotor micro aerial vehicle under external perturbations. The spatial vectors convention is implemented in order to represent the mathematical model of the system. Then, a flight control based on an adaptive second order sliding mode technique is designed. This controller allows to mitigate matched and bounded perturbations/uncertainties with unknown bounds, while non overstimating of the control gain; its adaptive gains permit to reduce the control effort as well as the chattering effect. Furthermore, a closed loop analysis under perturbations is given. Simulation results include a comparison between the proposed adaptive flight control against a second order sliding mode approach showing the feasibility and attractiveness of strategy.