Sliding Mode Control Strategy for a 6 DOF Quadrotor Helicopter

Abstract

In this work, we gives the full dynamical model of a commercially available quadrotor helicopter and presents its behaviour control at low altitudes through sliding mode control. The control law is very well known for its robustness against disturbances and invariance during the sliding regime. The plant on the other hand, is nonlinear one with state variables are tightly coupled the control objective is the position tracking. Simulations results have shown that the algorithm successfully drives the system towards the desired trajectory.