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@jemoka / Jemoka Knowledge Base / raw/concept/kbhsliding_mode_uav_control.md
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--- 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.