Feedback linearization and continuous sliding mode control for a quadrotor UAV

This paper presents a continuous sliding mode control method based on feedback linearization, an output tracking control is designed for the system. A discontinuous sliding mode control can be changed into a continuous one by dynamical extending the nonlinear system. The problem of zero dynamics from the state feedback exact linearization process can be solved by placing two integrators in front of partial control input, and realize the decoupling control. The control method in this paper compared with sliding control based on backstepping technique, it overcomes the disadvantage of sliding mode control just as chatting phenomenon, and it has no need to design the complex Lynapunov function according to the backstepping method. The simulation result shows that the control law prescribed in this paper can follow up the given signal.