Back-Stepping Sliding Mode Control of Quadrotor under Dynamic Uncertainties

摘要

this paper addresses the development of high order Sliding Mode Control (SMC) of a Quadrotor. This development has been done using Back-Stepping Sliding Mode Control (BSMC). By considering external disturbances and dynamic uncertainties in parameters, this approach guaranties the convergence of system states to their desired values. Based on Lyapunov stability theory, main achievement of this investigation is demonstrated for close loop dynamic stabilization of Quadrotor against sudden external disturbance in states and control inputs and also overcoming to parameters uncertainties. Performance impact of this strategy is illustrated on attitude and altitude control of a Quadrotor.