Quadrotor Stabilization and Tracking Using Nonlinear Surface Sliding Mode Control and Observer

We propose a control method wherein the estimated angles converge to desired value for quadrotor attitude stabilization and position tracking. To improve performance of system, unmeasured states are using sliding mode observer (SMO). set up dynamic model augment dynamics by an SMO. also derive inputs (SMC) calculate angle reach target with inputs. For fast convergence speed increased robustness tracking performance, nonlinear surface is applied SMC. The converges through operation SMC surface. improved adaptively switching deceleration curve curve. Using system based on (NSMC) SMO, reaches decreased settling time. effectiveness proposed proved simulation results.