Passivity-Based Sliding Mode Controller Design for Quadrotor Using Ant Colony Optimization

A Passivity-based Sliding Mode Controller (P-SMC) is designed in this paper to control a quadrotor (UAV) that tracks its trajectory using the Ant Colony Optimization algorithm. As a starter, feedback pacification is used to create a sliding surface, with passivity ensuring stability. A Conventional Sliding Mode method is also developed, the proposed control strategy has a faster reaching time, high accuracy, and reduces chattering. Additionally, the ant colony optimization algorithm (ACO) was used to ensure optimal performance, such as low energy consumption and small errors, finally, the validity of the proposed method is demonstrated by simulation results.