Quadcopter stabilization using hybrid controller under mass variation and disturbances

Abstract

This paper proposes a hybrid sliding mode control with backstepping with Proportional–Integral–Derivative sliding surface (PID-SMCBS) flight position control strategy for a quadcopter. A proposed controller makes the Quadcopter follow the desired trajectory and tends to improve the Quadcopter’s rotational and translation position performance (in terms of fast transient response, high accuracy with reduced chattering effect). It is robust as compared to existing control approaches SMC-BS and PIDSMC as it mitigates the effect of the disturbance (aerodynamic effect, sensor noise, external noise, and wind noise) and mass variation (uncertainty). The Lyapunov stability theory proves that all the states retain and reach the sliding surface.