Robust integral sliding mode controller for quadrotor flight

Hang Yu, Shiqian Wu, Qin Lv, Yimin Zhou, Siyuan Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations


In this paper, a robust integral sliding mode controller is designed for the position and attitude control of an autonomous quadrotor with under-actuated characteristics. The designed controller can stabilize the pitch angle and roll angle while the three position and yaw angle could converge to the desired values. Furthermore, the flight controllers are derived via the Lyapunov theory, which can guarantee that all the system state trajectories reach and maintain on the sliding surfaces. The advantage of the integral sliding mode control is that it is insensitive to the modelling errors, parameter uncertainties and other disturbances, and it can improve the steady-state response of the system as well. The chattering of the controller is reduced by a designed boundary layer. The performance of the proposed controllers is compared with the PD controller with the simulation experiments, which can achieve better robustness and tracking capability.

Original languageEnglish (US)
Title of host publicationProceedings - 2017 Chinese Automation Congress, CAC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages5
ISBN (Electronic)9781538635247
StatePublished - Dec 29 2017
Event2017 Chinese Automation Congress, CAC 2017 - Jinan, China
Duration: Oct 20 2017Oct 22 2017

Publication series

NameProceedings - 2017 Chinese Automation Congress, CAC 2017


Other2017 Chinese Automation Congress, CAC 2017

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Modeling and Simulation
  • Computer Science Applications


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