Quad-rotor orientation control by predictor based sliding mode control

A Sliding Mode Control (SMC) is modified in order to address the input delay in the control of quadrotor educational platform. The proposed scheme uses a predictor that compensates the delay effect on the input control which can appear for example when the control law is computed in a ground station. A Lyapunov stability analysis is presented to prove the exponential closed-loop stability in presence of perturbations and input delay. The control law is tested with numerical simulations to evaluate the expected results.