Abstract
In this paper, we propose a sliding-mode controller for a mini unmanned aerial vehicle (UAV) with propellers to follow the predetermined attitude trajectory. First the vehicle attitude dynamic model is established for angular displacements and for angular velocities, respectively. Next a sliding-mode controller with a switching surface is designed to eliminate uncertainties and disturbances. Then the attitude tracking control of a mini-UAV using the proposed control strategy is illustrated while flight. Finally, we employ the Lyapunov stability theory to fulfill the stability analysis of the proposed controller for the overall nonlinear control system. Extensive simulation results are gained to validate the effectiveness of the proposed sliding-mode controller.
