---
title: "Sliding Mode UAV Control"
source: https://www.jemoka.com/posts/kbhsliding_mode_uav_control/
---

Problem: we have a drone in an elevator; the elevator moves and hence the drone has a non-internal reference frame.
For a dynamical system which has uncertainty term which is not observable to the controller, one could control for position and velocity well with a Sliding Mode Controller
Sliding mode observer controls for the disturbance in the non-inertial reference frame.
