Characteristic-Model Based Discrete-Time Sliding Mode Control for Attitude Tracking of Quadrotor Under Unknown Dynamics and Input Saturation

In this paper, the attitude tracking control problem for quadrotor with unknown dynamics and input saturation is investigated. First, characteristic model is applied to the quadrotor modeling with unknown dynamics. Second, a novel discrete-time sliding mode controller (SMC) built in characteristic model is proposed to achieve attitude tracking and eliminate the negative effect caused by input saturation. Besides, the proposed characteristic-model based discrete-time SMC has a strong robustness against disturbance. It is proved that the convergence of tracking error can be guaranteed. Finally, the effectiveness and superiority of the proposed scheme are illustrated by simulation.