Abstract

The control of the quadrotor helicopter includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. This paper presents a control strategy for an underactuated six degrees of freedom (6 DOF) quadorotor helicopter, based on the sliding mode control (SMC).

The main purpose of this work is to proposed a non linear observer based on extended kalman filter (EKF) to estimate the unmeasured states. Finally simulation results are included to indicate the quadrotor UAV with the proposed controller ensure a good tracking of a desired trajectory and remain robust to the external disturbances.