Second order sliding mode control for quadrotor

The model of a quadrotor is nonlinear and dynamically unstable due to the high level of system nonlinearity and external disturbances. In this paper a robust second order sliding mode controller has been proposed for altitude tracking of a quadrotor. The controller is derived using Lyapunov stability approach and proved theoretically asymptotic stability. The performance of proposed control method is evaluated by comparing the performance with conventional sliding mode control from the literature. It is demonstrate that the proposed second order sliding mode control improves the tracking control performance with better transient performances.