Adaptive Second Order Terminal Backstepping Sliding Mode for Attitude Control of Quadrotor with External Disturbances

This paper proposes a backstepping terminal sliding mode control with adaptive algorithm which applied to Quadrotor for free chattering, finite time convergence and robust aims. First of all, dynamic equation of a quadrotor has been obtained based on Euler-Lagrangian equations with considering additional disturbance and uncertainty. Furthermore, a nonlinear control scheme has been proposed to deal against defined perturbations. In the proposed control scheme, instead of using regular control input, the derivative of the control input has

کلیدواژه ها:

Adaptive algorithm ، en ، Backstepping method ، Terminal second order sliding mode ، Quadrotor