Adaptive Sliding Mode Controller and Observer for Altitude and Attitude Control of a Quadrotor

In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization, and trajectory tracking. Second part is used for parameters estimation where we focus in mass estimation, while the third part is the full states observation. Disturbances, sensors noise and parameter uncertainties, are taken into consideration. Sliding mode control law and observer adaptation are developed based on Lyapunov stability principle. Numerical simulations show the effectiveness of the proposed control technique