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 been achieved from terminal second-layer sliding surface. An adaptive algorithm has been used to achieve the robust performance against external disturbances like wind effects. The adaptive control law estimates the upper bound of disturbance and uncertainty. Stability and robustness of the proposed controller have been proved by using the classical Lyapunov criterion. The simulation results demonstrate the validation of the proposed control scheme.