Trajectory tracking based on sliding mode control for a quadrotor

Abstract

In order to solve the problem of precise trajectory tracking control for a quadrotor in the presence of external disturbance and system model parameter uncertainty, a nonlinear trajectory tracking controller based on sliding mode for the quadrotor is designed. The dynamic model is used to design a stable and accurate controller to perform the best tracking and attitude results. The robustness and effectiveness of the proposed control strategy is verified by simulation in a virtual environment for linear and nonlinear trajectories.