In the field of unmanned aerial vehicles (UAVs), quadrotors are receiving considerable attention because of their potential application to industries such as transportation, inspection, and search and rescue. One of the key challenges is to robustly control the position and attitude of a UAV amid the mass and inertia uncertainties, as well as the external disturbances, that exist in the real environment. To meet these demands, this paper proposes a non-cascade adaptive sliding mode control (SMC) strategy for quadrotor trajectory tracking control. To represent real flight conditions, system dynamics are developed with unknown mass and moment of inertia while external disturbances are taken into account. Numerical simulation and indoor flight experiments are performed to verify the effectiveness of the proposed adaptive SMC strategy. In the indoor experiments, to illustrate robustness several experiments are carried out to compare the proposed design with the conventional cascade structure controller: (1) inherent inertia uncertainty, (2) mass uncertainties plus (1), and (3) external disturbance plus (2).

在无人飞行器（UAV）领域中，四旋翼由于其在运输，检查，搜索和救援等行业中的潜在应用而受到了广泛的关注。关键挑战之一是在真实环境中存在的质量和惯性不确定性以及外部干扰中，稳健地控制无人机的位置和姿态。为了满足这些需求，本文提出了一种用于四旋翼轨迹跟踪控制的非串级自适应滑模控制（SMC）策略。为了表示真实的飞行条件，在考虑外部干扰的情况下，开发了具有未知质量和惯性矩的系统动力学。进行了数值模拟和室内飞行实验，以验证所提出的自适应SMC策略的有效性。