State vector estimation using extended filter kalman for the sliding mode controlled quadrotor helicopter in vertical flight

The control of the quadrotor helicopter includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. This paper presents a control strategy for an underactuated six degrees of freedom (6 DOF) quadorotor helicopter, based on the sliding mode control (SMC). The main purpose of this work is to proposed a non linear observer based on extended kalman filter (EKF) to estimate the unmeasured states. Finally simulation results are included to indicate the quadrotor UAV with the proposed controller ensure a good tracking of a desired trajectory and remain robust to the external disturbances.