A sliding mode controller design for vertical take-off and landing based on model decoupling

For VTOL aircraft system, there exist coupling in the dynamic mathematical model. In this paper, a method of decoupling with four steps is proposed, and a sliding mode controller is designed. Theory proves that the system under proposed controller can be stable, and trajectory tracking, roll angle tracking show good performance. The simulation confirm the control performance and the tracking process are improved effectively. The coupling problem is fully taken into account in the controller design, which provides a high practical value.