Classical and second order sliding mode control solution to an attitude stabilization of a four rotors helicopter: From theory to experiment

The work proposed in this paper aim to design a robust second order sliding mode controller for the attitude stabilization of a four rotor helicopter (commonly known as quadrotor) to overcome to the chattering phenomena in classical (first) sliding mode control, while preserving the invariance property of sliding mode. The both controllers have been designed to stabilize the roll, pitch and yaw angles of the system. The theoretical results have been validated in simulation and in real time and a good performance results are obtained in second order sliding mode controller comparing with the classical sliding mode controller in stabilization, tracking and external disturbances rejection.