Attitude Control of Quadrotor UAVs Based on Adaptive Sliding Mode

In this paper, the attitude control of the quadrotor system under external disturbance is studied. A novel adaptive sliding mode control (ASMC) based on the linear extended state observer (LESO) is proposed, and the LESO is designed to estimate the lumped disturbance. An adaptive switching algorithm for changing the switching gain in real time is contained in the proposed ASMC. Then the disturbance estimation error can be compensated by the variable gain switching term in real time, therefore the robustness of the system can be further improved. The stability of the system is proved by Lyapunov theory. Finally, the simulation and experimental results verify the effectiveness of the control method.