Position and Attitude Control of Six-DOF Multicopters with Stabilized Post-Saturation Behaviors

Abstract

This paper proposes a control law based on Proxy-based Sliding Mode Control (PSMC) for muiticopters with six degrees of freedom. This control law has higher robustness against rotor thrust saturations than PD-based control laws. Simulation results show that the proposed method is superior to the PD-based control laws against rotor thrust saturations by comparing both methods.