A Non-Linear Improved Double-Integral Sliding Mode Controller (IDI-SMC) for Modeling and Simulation of 6 (DOF) Quadrotor system

Abstract

Due to recent technological achievements, modeling and simulation of Unmanned Aerial Vehicles (UAVs) such as Quadrotor contracted great potential. In this paper, the Improved Double-Integral Sliding Mode Controller (IDI-SMC) scheme is presented to cope with the problem like chattering and tracking. Under-actuated six Degree Of Freedom (DOF) Quadrotor model is formulated through Newton-Euler-Lagrange (NEL) equations. The idea of design (IDI-SMC) is to implement Double Sliding Mode control with proper coefficient scheduling for switching surface with Hurwitz stability criteria. Furthermore, introducing the strong condition of the sliding surface made the results and Simulations became more efficient with Hurwitz stability for both translational and rotational motion of the 6 DOF Quadrotor system is achieved to show the effectiveness of the proposed design controller.