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A modified sigmoid sliding mode control (MS-SMC) approach is proposed for stabilizing and tracking a quadrotor system with a nonlinear sliding surface, where the dynamics model is underactuated, highly coupled, and nonlinear. The constructed nonlinear sliding surface is based on the traditional sliding mode surface with a modified sigmoid function, allowing the initial value to quickly reach equilibrium. A new type of nonlinear SMC is applied for performance improvement of the quadrotor usingdoi:10.3390/s22103618 pmid:35632026 fatcat:y7o4om6w6jbwtoaxdtl625w25q