Robust Tracking Control of A Quadcopter Via Terminal Sliding Mode Control Based on Finite-time Disturbance Observer

Abstract

Quadcopters are playing more and more important roles in different applications. However, the design of robust tracking control for quadcopters remains challenging due to its complex dynamics. Considering the underactuated nature and cascaded structure of the quadcopter system, the control framework is divided into the outer loop control and the inner loop control for simplicity of implementation. We proposes a robust control scheme consisting of a finite-time disturbance observer and a terminal sliding mode controller and (FTDO-TSMC) for both loops. The finite time convergence of the observer and closed-loop stability are validated theoretically. Finally, the effectiveness and of the proposed method are illustrated by simulation results.