Robust Attitude Control of a Disturbed Multi-rotor Aircraft: Experimental Comparisons

In this work, a robust nonlinear attitude control is developed for a perturbed quadrotor aircraft. The proposed control scheme combines a finite-time sliding mode control with a smooth-reaching law to achieve the stability of the closed-loop system. The suggested method can provide precise tracking of the predefined trajectories while compensating for the impact of wind disturbances. Experimental comparisons with other recent controllers are conducted to highlight the outperformance of the suggested method in terms of trajectory tracking, robustness, and chattering alleviation.