EKF based sliding mode control for a quadrotor attitude stabilization

Abstract

In recent years, the interest in unmanned aerial vehicles (UAVs) has been increasing around the world. These vehicles are used in various applications from military operations to civilian tasks. Quadrotor, also called as a quadcopter, is one of the different types of UAVs. Quadrotor can fly more stable than helicopter and the flight control is more convenient. In UAVs, the most basic and salient point is the attitude control for stability. This paper estimates quadrotor's attitude by extended Kalman filter (EKF) and presents the design procedure of a sliding mode control (SMC) to focus on stabilization. The performance and effectiveness of the proposed system are verified through a simulation study.