Nonlinear Dynamic Modeling of a Quadrotor and Its Control Using Sliding Mode Controller

Tinu Valsa Paul, George Vadakkekara Itty, Thirunavukkarasu Indiran

Research output: Contribution to journalArticlepeer-review


In this paper, an attempt has been made to implement the classical second order SMC for a nonlinear model of the Quadrotor with varied trajectories in a closed loop in simulation for the available model along with the model identified for Hexsoon Edu 450 Quadrotor. The controller is developed using an equivalent control technique that was realized using MATLAB. Because the quadrotor system is complex, the dynamic modeling has to be done by considering six degrees of freedom prior to the controller design. Primarily the attitude controllers of the quadrotor should be settled at the desired values. Then, the position controllers must be stabilized using effective tuning of the parameters of the controller. This paper presents a three-dimensional trajectory tracking of the quadrotor using a sliding mode controller (SMC) which is stable and accurate as per the comparison because the maneuvering of the quadrotor is a quick process. The results of the designed (SMC) are compared with a nonlinear PID controller in the literature. The result proved the robustness of the SMC against the uncertainties of the system compared with NPID.

Original languageEnglish
Article number04023077
JournalJournal of Aerospace Engineering
Issue number6
Publication statusPublished - 01-11-2023

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • General Materials Science
  • Aerospace Engineering
  • Mechanical Engineering


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