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Sliding Mode Control Applied to a Qball-X4 UAV

Huanhuan Wang, Youmin Zhang, Yingmin Yi, Jing Xin, Ding Liu


This work is dedicated to the robust tracking problem for a UAV system with external disturbances, the Sliding Mode Control (SMC) strategy is used and tested on a Multi-Input-Multi-Output (MIMO) nonlinear quadrotor helicopter system. For comparison purpose, a LQR controller with integral action is also implemented and tested on a real quadrotor vehicle together with the SM-based controller. The results show that SMC possesses strong robustness
for dealing with disturbances and system uncertainties.

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