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Trajectory Tracking of Quadrotor UAV Based on Compound Recursive Non-Singular Fast Terminal Sliding Mode Control
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DOI：10.1007/s40313-026-01258-w.png)
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Abstract
En 中文
A novel robust flight control scheme is investigated for a quadrotor unmanned aerial vehicle (QUAV) system subject to external time-varying disturbances and model parameter uncertainties. The scheme integrates a high-order sliding mode observer (HSMO) for real-time disturbance estimation with a compound recursive non-singular fast terminal sliding mode control (CRNFTSMC) for precisely and actively compensating for the estimated disturbances. A recursive integral terminal sliding surface is designed to ensure that the system's tracking errors are uniform ultimate boundedness (UUB) and converge in finite time, as proven by a rigorous Lyapunov stability analysis. The effectiveness and superiority of the developed method are verified through comparative simulation studies.
Keywords:
Quadrotor unmanned aerial vehicle
Observer and estimation
Compound control method
External time-varying disturbances
Trajectory control
Journal
J
IF:
1.3
Papers:
92
Citations:
1.1K
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Cited Papers