Robust Low Altitude Behavior Control of a Quadrotor Rotorcraft Through Sliding Modes

Abstract — This paper gives the full dynamical model of a commercially available quadrotor rotorcraft and presents its behavior 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 a nonlinear one with state variables are tightly coupled. The simulations have shown that the algorithm successfully drives the system towards the desired trajectory with bounded control signals. I. UNMANNED AERIAL VEHICLES (UAVS) A UAV is a flying robot having its own power supply, having no human pilot and maintaining the flight through an appro-priate scheduling of aerodynamic forces either autonomously or by remote control. The UAV systems are capable of being invisible to radars and of performing formation flight. Wit