Nonlinear adaptive sliding mode control with application to quadcopters

Abstract Nonlinear adaptive sliding mode control (NASMC) has the capability to adequately a system whose parameters are unknown controller designer. Conventional model-based controllers require mathematical dynamic model of with known parameters. These normally determined by extensive identification experiments, which expensive and time-consuming perform. A NASMC approach that does not is proposed. Using NASMC, designer can skip parameter fast-forward implementation. In addition, once derived for quadcopter using same will work on any equations motion but different The formulation presented general second-order fourth-order systems. Then, as an implementation example, application demonstrated applying it unmanned aerial vehicle in simulation.