A HOSM control algorithm to stabilize the quadrotor vehicle with experimental validation

A High Order Sliding Mode control technique to stabilize the quadrotor vehicle is presented in this paper. The simplified nonlinear equations are evoked to develop the control algorithms. The closed-loop system using this sliding mode methodology is robust even in presence of unknown disturbances and uncertainties parameters in the model. The control scheme is validated in simulations and some experiments are developed to prove the experimental feasibility of the control strategy. Simulation and experimental results demonstrate the well performance of the proposed algorithms.