Design and Simulation of a Quadrotor UAV Control System Utilizing Sliding Mode Control Theory

This research delves into the practical implementation and simulation of sliding mode control theory within the context of quadrotor UAV control systems. Initially, a control model for the quadrotor UAV is established using linearization and decoupling techniques. Building upon this model, two distinct sliding mode controllers are devised to govern the attitude angle and flight altitude separately. The feasibility of the designed sliding surfaces is corroborated through the application of Lyapunov’s second method. Within the Simulink environment, step and sinusoidal signals are employed to replicate constant and variable disturbances, respectively, facilitating simulation experiments in both disturbance-free and disturbance-affected scenarios. The outcomes reveal that the proposed sliding mode controller efficiently achieves precise flight objectives in an undisturbed setting, exhibiting robust control capabilities. However, the control system encounters certain challenges in disturbed environments, particularly against variable disturbances. This study not only underscores the efficacy of sliding mode control in UAV control system design but also highlights its limitations in coping with complex disturbances, offering valuable insights for future research endeavors. ©2024 IEEE.