Robust Chattering Free Backstepping Sliding Mode Control Strategy for Autonomous Quadrotor Helicopter

Abstract— In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introduced in the final stage of the algorithm. To attenuate the chattering problem caused by a discontinuous switching function, a simple fuzzy system is used. The asymptotical stability of the system can be guaranteed since the control law is derived based on Lyapunov theorem. Simulation results of the developed controller which applied for a highly nonlinear quadrotor helicopter are presented. From the simulation results, it is shown that the developed control system not only achieves satisfactory control performance, but also eliminates the chattering phenomena in the control effort.