Adaptive Sliding Mode Trajectory Tracking Control of Quadrotor UAV with Unknown Control Direction

For quadrotor unmanned aerial vehicle(UAV) with unknown control direction, the Nussbaum gain method is introduced into adaptive sliding mode method to control the position and attitude of the quadrotor UAV. By decomposing the quadrotor UAV system into position subsystem and attitude subsystem, the intermediate control input is introduced to track the 3-DOF position information. The Nussbaum gain function is used to solve the problem of unknown control direction, and an adaptive law is designed to ensure the boundedness of all signals. Based on the Lyapunov theory, the stability of the closed-loop system is guaranteed. Finally the effectiveness of the proposed control method is verified by the simulation results.