AcademicArticleSCO_85053927887

abstract

• © 2018 IEEE. The design of a flight control for a micro air vehicle type quadrotor is presented. The control scheme is based on a smooth differentiator combined with an adaptive sliding mode controller. The observer provides a smooth and accurate estimation of the full state from partial measurements of state in spite of noise. The adaptive controller guarantee tracking of the desired trajectories against external perturbations. Thus, it can get a smooth measurement helping to adequately calculate the control law and adaptive gains of the controller allows to use a minimal gain sufficiently to keep the sliding mode, but large enough to reject perturbation as they appear. The methodology shows the effectiveness and performance via numerical simulations.