A Comparative Study On Sliding Mode Control for Quadrotor with Various Reaching Laws
摘要
The sliding mode control is widely employed across various applications due to its robustness and effectiveness. This paper investigates the application of exponential, power-rate, and super-twisting sliding mode control strategies for in both attitude and position. For each control algorithm, stable control inputs are derived, followed by comprehensive simulations of all considered reaching laws. A comparative analysis is also provided. While the super-twisting sliding mode control demonstrates the highest performance among the algorithms evaluated, it is also recognized as the most complex to implement.