Block linearization control of a quadrotor via sliding mode

This paper presents the design of a controller for trajectory tracking of a quadrotor helicopter based on the block control technique combined with the super twisting control algorithm. This controller is able to counteract the appearance of external disturbances and parameter uncertainties on the aircraft model. In order to do so, the wind parameter resulting from the aerodynamic forces is estimated ensuring robustness against those perturbations. Moreover, the virtual control inputs are estimated via the first order exact differentiator, which simplify the control law design. The stability analysis of the proposed controller has been carried out using Lyapunov functions. A simulation study that takes into account external disturbances and parameter uncertainties is performed in order to show the performance of the proposed controller under such scenario.