Integral Terminal Sliding Mode-Based Flight Control for Quadrotor UAVs

Abstract

A novel robust fast integral terminal sliding mode control (ITSMC) method has been proposed in this paper for flight control problems of a quadrotor UAV with time-varying uncertainties. Firstly, the dynamic controllers are designed for quadrotor system based on the ITSMC, which can guarantee that postion and attitude tracking errors of every state variable converge to zero in finite time. Secondly, the robust fast ITSMC is also able to eliminate the chattering phenomenon caused by the switching control action and realize the high precision performance. In addition, The stability proof of quadrotor system has been given with theory of Lyapunov. Finally, the simulation results are given in order to show effectiveness of the proposed control algorithm in the presence of time-varying uncertainties.