Data-Driven Backstepping Sliding-Mode Control of Disturbed QUAVs

Suffering from consistent external disturbances and unavailable kinetic dynamics, a data-driven backstepping sliding-mode control (DBSMC) scheme by the combination of technique is innovatively proposed for complex quadrotor unmanned aerial vehicles (QUAVs). To maintain salient advantages traditional PID algorithm, PD-type surface first designed attitude subsystem, thereby contributing to an efficient PD law while with strong robustness model-independent property. Then, virtual strategy are further incorporated into position controller design. In light philosophy, efficiently cohered in cascade form, closed-loop stability pertaining DBSMC can be ensured theoretically. Eventually, effectiveness devised evaluated via simulation studies.