Second-Order Sliding Mode Control of a Quadrotor UAV Based on a Multi-Channel Decomposition Model
Year: 2026
Type: preprint
Abstract: In quadrotor unmanned aerial vehicle (UAV) systems, chattering is a well-known disadvantage of sliding mode control (SMC). Moreover, quadrotors are frequently subjected to aerodynamic perturbations such as wind gusts, which can drastically degrade flight performance if not properly compensated. To solve these problems, this work proposes a novel control strategy that combines a second-order sliding mode control system with a multi-channel decomposition of the quad-rotor dynamics. In order to develop specialized controllers for each motion channel, the quadrotor model is first decomposed into independent subsystems. After that, a super-twisting algorithm is used to ensure continuous control action while preserving the robustness properties of the second order sliding mode control. The proposed method is designed to effectively suppress both chattering phenomenon and disturbance forces acting on the dynamic of the quadrotor. Numerical simulations under various reference trajectories and external disturbances are used to validate the control strategy's efficacy. The results show fast convergence, strong robustness, and better performance compared to classical sliding mode control.
Source: Research Square
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7204099201