Integral Sliding Mode Control of Quadrotor Attitude Tracking based on Adding Power Integrator Technique

The attitude tracking control problem of a quadrotor in the presence of the parametric uncertainty and external disturbance is studied. Firstly, the adding power integrator technique is employed to design a finite-time nominal controller for the attitude tracking control system. On this basis, an integral sliding mode surface is developed. The system state can converge to zero within finite time along the sliding surface when the ideal sliding motion is established. Combining the adaptive control technique and sliding mode control theory, an adaptive finite-time sliding mode control scheme is presented. It can drive the tracking errors converge to a small region containing zero. The finite-time stability of the attitude control system can be proved by the Lyapunov method strictly. Finally, a simulation example is conducted to verify the attitude tracking controller's effectiveness.