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

This paper introduces an adaptive sliding mode control approach for stabilizing and tracking trajectories with a quadrotor. The closed-loop control system comprises three main components: the first addresses altitude and attitude stabilization as well as trajectory tracking. The second component is dedicated to parameter estimation, particularly mass estimation. The third part focuses on observing full states. The control method considers disturbances, sensor noise, and parameter uncertainties, with sliding mode control laws and observer adaptation designed based on the Lyapunov stability principle. Numerical simulations demonstrate the efficacy of the proposed control technique.