Continuous Sliding-Mode Control Strategies for Quadrotor Robust Tracking: Real-Time Application

Hector Rios, Romeo Falcon, Oscar A. Gonzalez, Alejandro Dzul

Research output: Contribution to journalArticlepeer-review

172 Scopus citations


The design of robust tracking control for quadrotors is an important and challenging problem nowadays. In this paper, a robust tracking output-control strategy is proposed for a quadrotor under the influence of external disturbances and uncertainties. Such a strategy is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies some types of disturbances. It is also composed of a combination of PID controllers and continuous sliding-modes controllers that robustly track a desired time-varying trajectory with exponential convergence despite the influence of external disturbances and uncertainties. The closed-loop stability is provided based on the input-to-state stability (ISS) and finite-time ISS properties. Finally, experimental results in real time show the performance of the proposed control strategy.

Original languageEnglish
Article number8352057
Pages (from-to)1264-1272
Number of pages9
JournalIEEE Transactions on Industrial Electronics
Issue number2
StatePublished - Feb 2019

Bibliographical note

Funding Information:
Manuscript received September 5, 2017; revised January 22, 2018 and March 7, 2018; accepted April 12, 2018. Date of publication April 27, 2018; date of current version September 28, 2018. This work was supported in part by CONACYT 270504, 785635, 817174, and Project 134534, and in part by TECNM projects. (Corresponding author: Héctor Ríos.) H. Ríos is with CONACYT-TECNM/Instituto Tecnológico de La Laguna, División de Estudios de Posgrado e Investigación, Torreón 27000, México (e-mail:

Publisher Copyright:
© 1982-2012 IEEE.


  • Continuous sliding-mode control (SMC)
  • quadrotor
  • robust output control


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