Finite-time disturbance observer based integral sliding mode control of a quadrotor

This paper addresses the trajectory tracking control problem of a quadrotor with external disturbances. The main contributions are as follows: 1) A finite-time disturbance observer (FDO) is designed for accurate estimation of external disturbances and system uncertainties; 2) An integral sliding mode (ISM) control law is proposed to solve the trajectory tracking problem of the quadrotor; 3) By using FDO-based ISM control scheme, tracking errors can be stabilized to zero in a finite time. Simulation results show that the proposed control method has a remarkable performance.