Integral γ\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\gamma$$\end{document}-Sliding Mode Control for a Quadrotor with Uncertain Time-Varying Mass and External Disturbance

In this paper, we consider a robust control problem for a quadrotor that has uncertain time-varying mass and external disturbance. In solving our control problem, we suggest a new γ\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\gamma$$\end{document}-sliding mode controller coupled with an integrator to tackle both uncertain time-varying mass and disturbance issues in the system. Through Lyapunov analysis of the controlled system, we show that the gain-scaling factor γ\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\gamma$$\end{document} can effectively reduce the ultimate bound of each controlled state. The performance of the proposed controller is verified under the mass change during the experiment.