SLIDING MODE CONTROL OF A QUADROTOR UNMANNED AERIAL VEHICLE

Abstract

This article presents the construction of a mathematical model that
describes the dynamics of a quadrotor UAV and focuses on position control and
stabilization of the quadrotor's Euler angles. The forces and moments acting
on the UAV quadrotor are determined in the inertial coordinate system
(Coordinate system attached to the earth). The quadrotor's equations of
motion are determined using the Lagrange method. The nonlinear Sliding
Mode Control (SMC) has been designed to control the height Z combined with
translational movement in the X and Y directions of the quadrotor. To
demonstrate the effectiveness of the synthesized algorithm, the system is
simulated using Matlab-Simulink software.