Quadrotor vehicle control via sliding mode controller driven by sliding mode disturbance observer

► The flight controller of a quadrotor is designed using multiple-loop SMC-SMDO. ► The SMC-SMDO design allows for continuous control that is robust to bounded disturbances. ► The SMC-SMDO flight controller provides robust control of the quadrotor's position and attitude. ► The actuator damage is addressed by the SMC-SMDO controller. ► The efficacy of the design is confirmed via simulation of a 6 DOF quadrotor model.