Feedback linearization vs. adaptive sliding mode control for a quadrotor helicopter

Regular Papers Control Applications

DOI: 10.1007/s12555-009-0311-8

Cite this article as:
Lee, D., Jin Kim, H. & Sastry, S. Int. J. Control Autom. Syst. (2009) 7: 419. doi:10.1007/s12555-009-0311-8


This paper presents two types of nonlinear controllers for an autonomous quadrotor helicopter. One type, a feedback linearization controller involves high-order derivative terms and turns out to be quite sensitive to sensor noise as well as modeling uncertainty. The second type involves a new approach to an adaptive sliding mode controller using input augmentation in order to account for the underactuated property of the helicopter, sensor noise, and uncertainty without using control inputs of large magnitude. The sliding mode controller performs very well under noisy conditions, and adaptation can effectively estimate uncertainty such as ground effects.


Feedback linearization sliding mode control UAV quadrotor helicopter 

Copyright information

© The Institute of Control, Robotics and Systems Engineers and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg GmbH 2009

Authors and Affiliations

  1. 1.School of Mechanical and Aerospace Engineering and Institute of Advanced Aerospace TechnologySeoul National UniversitySeoulKorea
  2. 2.Electrical Engineering & Computer SciencesUniversity of CaliforniaBerkeleyUSA

Personalised recommendations