Back-stepping Based Sliding Mode Control for a Quadrotor with Payload Disturbance Elimination and Moment of Inertia Estimation Using Adaptive Methods

Quadrotor is a body floating in space with six degrees of freedom. The purpose of this article is ideal path tracking and control of a quadrotor in presence of payload disturbance and uncertain inertia matrix proposition. Control and ideal path tracking have been applied by a back-stepping sliding mode control. To eliminate the payload disturbance, a coefficient factor has been considered in the altitude controller design. Given that mass have a direct impact on inertia, the dynamic of payload compensation coefficient estimate and inertia parameters have been calculated using the adaptive method based on Lyapunov theory to eliminate the effects of these disturbance and uncertainty. Finally, simulation results have been presented in order to investigate the performance and robustness of the designed controller in the face of payload disturbance.