Attitude Tracking Control of Quadrotor with Disturbance using Sliding Mode Method

In this paper, nonlinear constant tracking control strategies using sliding mode control (SMC) are investigated in both continuous time (CT) and discrete time (DT) domains for attitude model of quadrotor having unknown disturbances. The attitude control schemes are developed by taking in consideration both continuous time model (CTM) and discrete time model (DTM). To obtain approximation of discrete time equivalent model (ADEM) based in DT domain, discretization is done using euler forward difference. After obtaining the model in both domains, continuous time sliding mode control (CTSMC) and discrete time sliding mode control (DTSMC) schemes are presented for decoupled subsystem models of roll, pitch and yaw, respectively, based on CTM and DTM. The performance comparison of CTSMC and DTSMC schemes is presented in the simulation study.