Robust chattering free backstepping sliding mode control strategy for autonomous quadrotor helicopter

• Main Authors: A. Danapalasingam, Kumeresan, Mohd. Basri, Mohd. Ariffanan, Husain, Abdul Rashid
• Format: Article
• Published: International Journals of Engineering and Sciences Publisher 2014
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.utm.my/id/eprint/62496/; https://pdfs.semanticscholar.org/f9a7/4c837e8c6f6602940983d182cddc34b2de03.pdf

In this paper a robust chattering free backstepping sliding mode controller is developed for the attitude stabilization and trajectory tracking control of quadrotor helicopter with external disturbances. The control scheme is developed based on backstepping technique and a sliding surface is introdu...