Adaptive super-twisting non-singular terminal sliding mode control for tracking of quadrotor with bounded disturbances

Abstract

In this research, a novel adaptive non-singular terminal sliding mode control (ANTSMC) is proposed for finite-time attitude and altitude tracking of aircraft system considering the bounded disturbances. By utilizing this structure, the desired reference is tracked in finite-time. Afterward, a new adaptive super-twisting sliding mode control (ASTSMC) is presented to decrease the control signals' chattering effect. This approach combines with the ANTSMC to compose this study's proposed approach as adaptive super-twisting non-singular terminal sliding mode control (ASTNTSMC). Additionally, an adaptive-regulation strategy is designed for estimating the unknown bounds of the disturbances. Finally, for evaluating the proposed strategies' ability, some simulations are performed based on quadrotor real parameters and confirmed the presented controllers' appropriate performances compared to other techniques.