Improved Position and Attitude Tracking Control for a Quadrotor UAV

This paper mainly investigates the commonly considered trajectory tracking problem for a quadrotor unmanned aerial vehicle (UAV) based on a sliding mode control (SMC). The quadrotor system is obtained by the composition of two subsystems, that’s, a fully actuated subsystem(FAS) and an underactuated subsystem(UAS).Then, an improved SMC method is proposed to weaken the chattering phenomenon resulted from the switching control action and perform precisely the position and attitude trajectory tracking. Finally, some simulation results are performed and shown to illustrate the effectiveness of the developed control approach.