Flight Control for 6-DOF Quadrotor via Sliding Mode Integral Filter.

This article mainly focuses on the ability of the quadrotor UAV to follow the desired trajectory when it is subjected to various external disturbances. In order to solve this problem, a closed-loop six-degree-of-freedom full control system will be proposed in the article. The sliding mode integral technology is introduced when designing the filter, which effectively solves the “computational explosion” problem in the traditional backstepping method by avoiding the analytical derivation process of the virtual control input. At the same time, an backstepping controller based on the above command filter is designed. After theoretical analysis, the stability of the closed-loop system is guaranteed, and the effectiveness of this method is further verified through simulation experiments.