Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dynamics

  title={Robust Second Order Sliding Mode Control for A Quadrotor Considering Motor Dynamics},
  author={Nader Jamali Soufi Amlashi and Mohammad Reza Rezaei and Hossein Bolandi and Ali Khaki Sedigh},
In this paper, a robust second order sliding mode control (SMC) for controlling a quadrotor with uncertain parameters presented based on high order sliding mode control (HOSMC). A controller based on the HOSMC technique is designed for trajectory tracking of a quadrotor helicopter with considering motor dynamics. The main subsystems of quadrotor (i.e. position and attitude) stabilized using HOSMC method. The performance and effectiveness of the proposed controller are tested in a simulation… Expand
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  • Proceedings of the 45th IEEE Conference on Decision and Control
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