Adaptive Terminal Backstepping Sliding Mode for Attitude Control of Quadrotor Flying Robot with External Disturbances

This paper proposes a backstepping terminal sliding mode control with adaptive algorithm which applied to Quadrotor for free chattering, finite time convergences and robust aims. Instead of regular control input, the derivative of the control input is achieved from terminal second-layer sliding surface. An adaptive algorithm is used to achieve robust performance against external disturbances. Stability and robustness of the proposed controller are proved by using the classical Lyapunov criterion. The simulation results demonstrate the validation of the proposed control scheme.

Keywords:

Quadrotor , Adaptive , Backstepping , Terminal seond order sliding mode