Control of Quadcopter Based on Adaptive Fast Nonsingular Terminal Sliding Mode

Abstract

This paper presents a novel approach to address the trajectory tracking control problem for quadcopter systems subjected to multiple disturbances. The proposed method integrates sliding mode control with adaptive control techniques, resulting in an effective adaptive fast nonsingular terminal sliding mode (AFNTSM) controller. The controller structure can be divided into an internal attitude control loop and an external position control loop. In the altitude control loop, a strategy employing AFNTSM is utilized to tackle time-varying external disturbances. In the attitude control loop, given the existence of uncertain system parameters, an attitude controller is designed by combining a PID controller with an extended state observer. The asymptotic stability of the system is verified by using Lyapunov’s theorem. Finally, experimental flights validate the superiority of this control strategy over the traditional PID algorithm.