Adaptive Integral Sliding Mode Control for Constrained Quadrotor Trajectory Tracking

Abstract

This paper deals with the constrained position and angle tracking control design for quadrotor under unknown upper bound disturbances. An adaptive integral sliding mode control (AISMC) is proposed to perform the position and angle tracking for the quadrotor subject the severe disturbances and input saturation constraints. The proposed approach that does not require a priori knowledge of disturbance boundaries, allows through an adaptation dynamic law to reduce the computing effort, to obtain a good tracking, and to avoid an overestimation of the gain of the mode sliding that will automatically handle input saturation constraints. Stability and convergence in finite time are proved by Lyapunov theory. The efficiency of the proposed method is shown by simulation