Date of Award


Document Type


Degree Name

Master of Science (MS)


Mechanical and Aerospace Engineering

Committee Chair

Farbod Fahimi

Committee Member

Konstantinos Kanistras

Committee Member

Chang-kwon Kang


Quadrotor helicopters, Sliding mode control, Nonlinear control theory


Nonlinear Adaptive Sliding Mode Control (NASMC) has the capability to adequately control a system whose parameters are unknown to the controller designer. Conventional model-based controllers require a mathematical dynamic model of the system with known parameters. These are normally determined by extensive system identification experiments which are expensive and time consuming to perform. In this thesis, a NASMC approach is proposed that does not require known system parameters. Using NASMC, a controller designer can skip the system parameter identification and fast forward to the control implementation. In addition, once a NASMC controller is derived for a quadcopter, the same controller will work on any quadcopter with the same equations of motion but different dynamic parameters. The formulation of the NASMC is presented for general 2nd-order and 4th-order systems. Then, as an implementation example, the application of the general NASMC approach is demonstrated by applying it to a quadcopter in simulation.



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