PID based sliding mode controller design for the micro quadrotor

In this paper, a PID based sliding mode controller is implemented on a micro quadrotor. The micro quadrotor is a nonlinear, underactuated and interconnected system, thus it should be regulated by an appropriate control technique. The advantages of the proposed controller are to remain the robustness characteristics to disturbances and to solve the chattering phenomenon of the conventional sliding mode control (SMC). Therefore, it can prevent the unexpected instability, decrease the energy consumption and improve the operation of the micro quadrotor. The effectiveness of the proposed controller is demonstrated through simulation results.