An adaptive sliding mode control based on radial basis function network for attitude tracking control of four rotor hover system

An adaptive sliding mode controller based on radial basis function network has been proposed to control the three degree-of-freedom four rotor hover system. Mathematical model of hover system is developed using equations of motions and radial basis function network is used to approximate the unmodeled dynamics of the system. Sliding mode controller based on adaptive law is designed to achieve chattering free, good attitude tracking control in the presence of modeling uncertainties. The stability of the proposed controller has been proved using the Lyapunov stability theory. Simulation results exhibit that the adaptive sliding mode controller in conjunction with radial basis function network achieves better control performance than the traditional PID, LQR controllers even without knowing the exact dynamical model.