Skip to content
Research Article Open access CC BY 4.0

Sliding Mode Control-Based Modeling and Simulation of a Quadcopter

Rahmi Elagib, Ahmet Karaarslan

Journal of Engineering Research and Reports · pp. 32–41 · Published 8 Feb 2023

10.9734/jerr/2023/v24i3806

Abstract

This article discusses the use of Sliding Mode Control (SMC) for the control of a four-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). The Newton-Euler method is utilized to build the quadcopter's dynamic model. The model is divided into under-actuated and fully actuated subsystems. Even though controlling UAVs is difficult owing to their extremely nonlinear characteristics, previous experimental trials and simulation studies have proved that the sliding mode controller yields satisfactory performance and disturbance tolerance. The contribution of this study is the presenting of an accurate quadcopter modeling and simulation employing a sliding mode controller and a Newton-Euler formula to reduce chattering. In this study, SMC was used to control the altitude and attitude of the quadcopter. MATLAB/Simulink was used to show the quadcopter dynamic model and controller model, and the result illustrating the controller's performance in different conditions was acquired.

Quadcopter Unmanned air vehicle VTOL MATLAB/Simulink SMC

References (11)

  1. 1 Multiple UAVs in forest fire fighting mission using particle swarm optimization [DOI]
  2. 2 Robust Tracking Control of a Quadrotor UAV Based on Adaptive Sliding Mode Controller [DOI]
  3. 3 Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances [DOI]
  4. 4 Cooperative forest monitoring and fire detection using a team of UAVs-UGVs [DOI]
  5. 5 Sliding Mode Control: An Approach to Control a Quadrotor [DOI]
  6. 6 Real-time autonomous take-off, tracking and landing of UAV on a moving UGV platform [DOI]
  7. 7 Modeling and Robust Integral Sliding Mode Control for a Quadrotor Unmanned Aerial Vehicle [DOI]
  8. 8 Smooth second-order sliding mode control for fully actuated multirotor aerial vehicles [DOI]
  9. 9 Modeling and Sliding Mode Control of a Fully-actuated Multirotor with Tilted Propellers [DOI]
  10. 10 FULL MODELLING AND SLIDING MODE CONTROL FOR A QUADROTOR UAV IN VISUAL SERVOING TASK
  11. 11 International Journal of Aerospace Engineering [DOI]

Cited by 34

An integral backstepping and nonlinear disturbance observer-based sliding mode control for active fault-tolerant quadcopter UAVs with simulation as well as hardware-in-the-loop experiments

Muhammad Abdullah, Adil Zulfiqar, Jamal Hussain Arman · International Journal of Dynamics and Control · 2025

Trajectory Tracking Control for a Quadcopter under External Disturbances

Cuong V. Nguyen, Minh Tuan Nguyen, Hoang T. Tran · Engineering, Technology & Applied Science Research · 2024

Synthesis of Combined Quadrocopter Attitude and Altitude Control Based on Block Approach with Sigmoidal Feedbacks

Aleksey Antipov, Julia Kokunko, Daniyar Wolf · Informatics and Automation · 2025

Enhancing Quadcopter Autonomy: Implementing Advanced Control Strategies and Intelligent Trajectory Planning

Samira Hadid, Razika Boushaki, Fatiha Boumchedda · Automation · 2024

An Integrated Sliding Mode and Lyapunov-based Control Approach for Robust Quadcopter Trajectory Tracking

Mahdi Al Quran, Ahmad Al-Sheyyab, Mustafa Rawashdeh · Journal of Engineering and Technological Sciences · 2026

Design and Simulation of a Quadrotor UAV Control System Utilizing Sliding Mode Control Theory

Ruofeng Yao · 2024 13th International Conference of Information and Communication Technology (ICTech) · 2024

Reliability evaluation of reinforcement learning methods for mechanical systems with increasing complexity

Peter Manzl, Oleg Rogov, Johannes Gerstmayr · Multibody System Dynamics · 2023

Showing 17 of 34 known citations — external sources report more than can currently be individually listed.

Related research

Article metrics

Real usage data collected on this platform.

34

Page views

0

PDF downloads

3

Outbound clicks

34

Citations

Views over time

Views by country

Approximate, from request IP at view time — not citizenship or institution. Countries with fewer than 5 views are grouped as "Other".

Traffic sources

Referring site, by host.

Views and downloads exclude known bots/crawlers. Citations combines this platform's own DOI-resolved index with each external source's own reported total — see Cited by above for individually listed citing works. Last refreshed 0 seconds ago.