Trajectory Tracking Control for a Quadcopter under External Disturbances

Abstract

This paper initially discusses the application of a Sliding Mode Controller (SMC) for drone control, encompassing vertical takeoff and landing. Subsequently, the dynamic model of the quadcopter is formulated using the Newton-Euler method. Despite the challenges posed by the nonlinear characteristics of Unmanned Aerial Vehicles (UAVs), empirical evidence from previous tests and simulation studies underscores the efficacy of the SMC in delivering satisfactory performance and robust resistance against interference. Moreover, this research endeavors to present a quadcopter model and simulation, leveraging the SMC alongside the Newton-Euler formula to enhance control precision in the face of external magnetic disturbances affecting the UAV. Both the position and attitude of the UAV are governed by the SMC. The dynamic and control models of the quadcopter are implemented and visualized in MATLAB, culminating in results that substantiate the efficacy of the proposed controller across diverse scenarios. Furthermore, the performance of the proposed control method is compared with alternative methodologies such as PID, particularly in scenarios involving disturbances. The simulation results indicate promising and practical implications.