Design and Simulation of a Sliding Mode-Based Control Design for a Quadrotor UAV

Suresh Kumar Suraj, Vadakkekkara Itty George, I. Thirunavukkarasu, Tinu Valsa Paul

Research output: Chapter in Book/Report/Conference proceedingConference contribution


This paper deals with developing a non-linear control system and implementing it on the Quadrotor UAV with the help of MATLAB simulation. Initially, a mathematical model of the system is obtained with help of the nonlinear dynamics for the quadcopter, derived with the help of Newtonian and Eulerian formulations. Thus, the model obtained includes the aerodynamic effects and rotor dynamics of the quadrotor. Further on, after the derivation of the mathematical model, control algorithms are developed for the orientation and position controls of the quadrotor in three-dimensional space. The two approaches developed are Sliding Mode Control (SMC) and Proportional Integral Differential controller. The design parameters of the SMC controller are optimized using a Genetic Algorithm (GA) to obtain better system dynamic performance. Simulations were used for evaluation and comparison of the performances of the two developed control techniques between their dynamic performances and stability in both linear and nonlinear operative regions.

Original languageEnglish
Title of host publicationSmart Sensors Measurements and Instrumentation - Select Proceedings of CISCON 2020
EditorsSanthosh K V, K. Guruprasad Rao
PublisherSpringer Science and Business Media Deutschland GmbH
Number of pages13
ISBN (Print)9789811603358
Publication statusPublished - 2021

Publication series

NameLecture Notes in Electrical Engineering
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering


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