PX4 Simulation Results of a Quadcopter with a Disturbance-Observer-Based and PSO-Optimized Sliding Mode Surface Controller

This work designed a disturbance-observer-based nonlinear sliding mode surface controller (SMC) and validated the using simulated PX4-conducted quadcopter. To achieve this goal, research (1) developed dynamic mathematical model; (2) built PX4-based UAV following model-based design process; (3) appropriate control laws for each degree of freedom; (4) implemented disturbance observers on proposed SMC to finer rejection such as crosswind effect other mutational disturbances; (5) optimized controller’s parameters based particle swarm optimization (PSO) method; (6) evaluated compared quadcopter’s tracking performance under range noise disturbances. Comparisons PID strategies against were documented same conditions. Consequently, with observer facilitates accurate fast adaptation in uncertain environments.