Altitude and Attitude Quadrotor Control based on Adaptive Sliding Mode Controller with Input Saturation

This paper deals with the adaptive robust tracking control problem of a quadrotor under parametric uncertainties, actuator saturation and external wind disturbances. An adaptive robust control strategy is proposed to deal with this tracking problem. To solve the actuator saturation problem, an auxiliary system with adaptation law is considered. Global stability of the resulting closed loop system is analyzed using the sliding mode approach and the lyapunov theory. The proposed control strategy is developed to control the altitude system and attitude system representing the rotation angles in the presence of external perturbations, uncertainties and input saturation. The proposed control scheme is finally verified through various tests of simulation, also an experimental validation is carried on Parrot Mambo minidrone proving its effectiveness.