Dynamic sliding mode based trajectory tracking control of fully and under-actuated quadrotor with perturbations

In this work, we present a robust dynamic sliding mode controller (DSMC) for the position tracking and attitude stabilization of a quadrotor. The proposed controller overcomes the problem of chattering in classical sliding mode control while preserving the advantages of conventional sliding surfaces. The mathematical model of the quadrotor is decomposed into a fully actuated, and an under-actuated subsystem, and DSMC is designed for each of them. The proposed controller is observed to give a high precision robust tracking performance for up to 80% inertial uncertainties present in the plant model. The stability of the overall non-linear system is proved using Lyapunov theory. Finally, simulation results are presented to test the efficacy of the control allocation in the presence of external disturbances.