Applied of an adaptive Higher order sliding mode controller to quadrotor trajectory tracking

In this work, we aim to apply an adaptive Higher order sliding mode controller for trajectory tracking mode of Multi-rotor Unmanned Aerial Vehicles (UAVs) such as a Quadrotor system. The controller consists of the addition of two terms such as nominal term based os classical sliding mode control (SMC) and an adaptive super twisting term. We start the paper by the presentation of the Quadrotor model. Classical SMC is designed in the second step. Next, super twisting and its adaptive variant case were used to replace the discontinuous control part of the SMC for objective to chattering attenuation and performances improvement. Simulation results were presented in the trajectory tracking mode and their performances are compared with those of the STW controller.