A predictive sliding mode control for quadrotor's tracking trajectory subject to wind gusts and uncertainties

In this paper, a predictive sliding mode control (PSMC) strategy for the quadrotorstracking trajectory problem is proposed. This strategy aims to combine the advantagesof sliding mode control (SMC) and non-linear model predictive control (NMPC)to improve the tracking control performance for quadrotors in terms of optimality,inputs/states constraints satisfaction, and strong robustness against disturbances. Acomparative study of three popular controllers: the SMC, NMPC, and the integralbackstepping control (IBC) is performed with different criteria. Accordingly, IBC andSMC show less computational time and strong robustness, while NMPC has minimumcontrol effort. The discrete Dryden turbulence model is used as a benchmark modelto represent the wind effect on the trajectory tracking accuracy. The effectiveness ofthe proposed method PSMC has been proven and compared with discrete-time slidingmode control (DSMC) and NMPC in several scenarios. Simulation results show thatunder both wind turbulence and time-variant uncertainties, the PSMC outperforms theother controllers by providing simultaneously disturbance rejection and guarantee thatthe control inputs are within bounded constraints.&nbsp