• PRAVEEN KUMAR GOSKULA
• Lini Mathew
• Shimi S L
• Sandeep Gupta

One of the main challenges for quadrotor is desired trajectory tracking in presence of external disturbances. This paper addresses the quadrotor tracking control for external disturbances. Quadrotor dynamic modeling is taken by considering drag forces, aerodynamic friction and gyroscopic effects. So the new state space model is represented for the mathematical modeling of quadrotor. Two non linear controllers, sliding mode controller and back stepping controller are combined. The new sliding surface is designed using Lyapunov based adaptive law to compensate for the effect of external disturbances. The new law is asymptotically stable as tracking errors are reduced to zero. The controller algorithm is implemented using MATLAB simulations and compares with the nominal SMC with back stepping controller. And results shows new law is successfully compensate the external disturbances.

"Advance Robust Nonlinear Control Algorithm for Quadrotor Applications", International Journal of Emerging Technologies and Innovative Research (www.jetir.org), ISSN:2349-5162, Vol.10, Issue 11, page no.e164-e174, November-2023, Available :http://www.jetir.org/papers/JETIR2311425.pdf

"Advance Robust Nonlinear Control Algorithm for Quadrotor Applications", International Journal of Emerging Technologies and Innovative Research (www.jetir.org | UGC and issn Approved), ISSN:2349-5162, Vol.10, Issue 11, page no. ppe164-e174, November-2023, Available at : http://www.jetir.org/papers/JETIR2311425.pdf