The design of sliding mode control of a hexarotor

This paper presents the mathematical model of a hexarotor and the design of the sliding mode controller. The Sliding Mode Control method, which is known to be insensitive to external disturbances and parameter uncertainties, was used to control the altitude, attitude and position of the hexarotor. The Lyapunov´s stability theory analysis was used to guarantee the stability of a system. The mathematical model was simulated to optimize the design of the controlling system. The simulation results indicated that the controller tracked the given trajectory well and at the same time maintained the stability of the hexarotor.