Design and Implementation of the Discrete-Time Sliding Mode Controller for Trajectory Tracking of Quadrotor

Abstract

In this paper, we develop a robust position control of the quadrotor under uncertainties. The design of trajectory tracking controller for the quadrotor is divided into two parts, namely, attitude controller and position controller. First, the extrapolation method is utilized to transform the continuous-time dynamical model of quadrotor into discrete-time one.  Then, a discrete-time sliding mode controller (DTSMC) is designed to ensure the position trajectory tracking capability in the presence of disturbance. Stability of the quadrotor is investigated by using Lyapunov stability analysis. Lastly, numerical simulations and experiments are demonstrated to show the validity and the feasibility of the proposed controller.