A robust adaptive nonlinear control design for quadrotor

摘要

This paper presents an adaptive sliding mode controller for quadrotor trajectory tracking in presence of uncertainties and disturbances. An exponential reaching law is implemented using the gain adaptation control, which has the advantage of not requiring the knowledge of the upper bound of the lumped uncertainties and external disturbances. Numerical simulation results are provided to illustrate the good tracking performance of the proposed adaptive control approach.