Adaptive second-order sliding mode control for a tilting quadcopter with input saturations

In this paper, we address the problem of tracking control for a novel tilting quadcopter in the presence of uncertainties and disturbance. To handle these effects, an adaptive second-order sliding mode control (ASOSMC) is proposed to obtain fast convergence rate and high precision with alleviating chattering effect. Considering the input saturations, a new scheme is designed toward the time derivative of the control inputs where an auxiliary system is adopted to the controller. Moreover, the overall uncertainties are expressed in a linearly parametric form without any prior knowledge. It can be proved that the sliding mode manifolds can fast converge to a small neighborhood around zero within finite-time, and then tracking errors exponentially. Finally, simulation results are carried out to demonstrate the effectiveness and robustness of the proposed controller.