Equivalent sliding mode controller design based on "H" type quadrotor

Based on the "H" type quadrotor prototype, a 6DOF mathematical model is developed by the Newton-Euler method in order to proceed the research of position and attitude control of complex nonlinear problems. Then, in this context equivalent sliding mode controllers are designed to solve the altitude and attitude control of the quadrotor in addition that PID controllers are designed for the horizontal position control. At last, simulations are carried out under MATLAB/Simulink simulation environment. The simulation results illustrate that the designed controllers effectively realize the control of the quadrotor revealing good tracking ability and anti — interference ability.