A predictive sliding mode control for quadrotor’s trackingtrajectory subject to wind gusts and uncertainties

<p>In this paper, a predictive sliding mode control (PSMC) strategy for the quadrotors tracking trajectory problem is proposed. This aims to combine advantages of (SMC) and non-linear model (NMPC) improve performance in terms optimality, inputs/states constraints satisfaction, strong robustness against disturbances. A comparative study three popular controllers: SMC, NMPC, integral backstepping (IBC) performed with different criteria. Accordingly, IBC SMC show less computational time robustness, while NMPC has minimum effort. The discrete Dryden turbulence used as benchmark represent wind effect on accuracy. effectiveness proposed method PSMC been proven compared discrete-time slidingmode (DSMC) several scenarios. Simulation results that under both time-variant uncertainties, outperforms other controllers by providing simultaneously disturbance rejection guarantee inputs are within bounded constraints.</p>