Abstract
In this paper, a robust tracking control law for multi-rotor UAVs is proposed based on sliding mode control. The dynamic model of the multi-rotor UAV is obtained via a Lagrange approach as a 4-input 4-output system. The proposed controller can achieve asymptotic convergence of the closed-loop system for the plant with uncertainty of moment of inertia of the body. To construct a controller, the model of the plant is decomposed into two parallel subsystems as a vertical and a horizontal systems. The vertical and horizontal subsystems are controlled by linear feedback and sliding mode controllers, respectively. We derive a condition that the proposed controller can ensure the stability of the closed-loop system. By numerical simulation, effectiveness of the proposed control is verified.
