This article discusses the use of Sliding Mode Control (SMC) for the control of a four-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). The Newton-Euler method is utilized to build the quadcopter's dynamic model. The model is divided into under-actuated and fully actuated subsystems. Even though controlling UAVs is difficult owing to their extremely nonlinear characteristics, previous experimental trials and simulation studies have proved that the sliding mode controller yields satisfactory performance and disturbance tolerance. The contribution of this study is the presenting of an accurate quadcopter modeling and simulation employing a sliding mode controller and a Newton-Euler formula to reduce chattering. In this study, SMC was used to control the altitude and attitude of the quadcopter. MATLAB/Simulink was used to show the quadcopter dynamic model and controller model, and the result illustrating the controller's performance in different conditions was acquired.

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This paper presents a combination of Linear Quadratic Regulator (LQR) and Sliding Mode Control (SMC) methods to control a four-rotor unmanned aerial vehicle (UAV) that takes off and lands vertically (VTOL). Although controlling UAVs is difficult due to their highly nonlinear characteristics, the controller successfully controlled and stabilized the quadcopter in altitude and attitude by combining the advantages of the nonlinear and linear controllers. The Newton-Euler method is employed to build the dynamic model of the quadcopter, which is divided into two subsystems: the under-controlled subsystem and the fully actuated subsystem. The entire controller model was demonstrated in MATLAB/Simulink, and results demonstrating the controller's performance in various scenarios were obtained.