An adaptive sliding mode dynamic surface tracking control method for uncertain QUAV

To overcome nonlinear and 6-DOF (degrees of freedom) under-actuated problems for position and attitude control of quadrotor unmanned aerial vehicle (QUAV) with completely unknown uncertainties introduced by air flow disturbances and time variant payloads, a new robust adaptive sliding mode dynamic surface control (DSC) strategy is presented. Under the proposed control scheme, the whole system is divided into two subsystems, that is, translational system and rotational system. And, by the attitude extraction algorithms, the two subsystems are connected each other. The adaptive sliding mode control and dynamic surface control methods are designed for translational system and rotational system, respectively. The tracking errors of the uncertain QUAV are shown to be asymptotic stability in the sense of uniform ultimate boundedness by using Lyapunov theory. Finally, the efficiency of the control algorithm is demonstrated by the simulation results.