Dynamic Sliding Mode Control With PID Surface for Trajectory Tracking of a Multirotor Aircraft.

This paper deals with the design of a robust controller to attenuate matched and unmatched uncertain dynamics as well as external disturbances effects by considering the actuator bandwidth to stabilize the mechanical dynamics of an Unmanned Aerial Vehicle. To this end, the performance of a sliding mode controller is improved with the combination of the attractive ellipsoid method. Likewise, it is guaranteed that the system trajectory arrives into a minimal size invariant set in finite time by using a workable control input. Finally, in order to evaluate the effectiveness of the proposed control approach, a comparative study with a robust Proportional Derivative controller, an integral sliding mode controller and a dynamic sliding mode controller with Proportional Integral Derivative sliding surface was conducted. In order to validate the effectiveness of the proposed controllers, the dynamics of a multirotor aircraft was used to conduct numerical simulations.