Attitude Control of Quadrotor UAVs Using Adaptive Terminal Sliding Mode Control

To handle the strongly coupled, nonlinear and un-modeled disturbance in UAVs, an adaptive terminal sliding mode control strategy based on characteristic modeling is presented, which achieves improved attitude control accuracy and robustness. Specifically, a characteristic model of quadrotor attitude control is first established. Then, using sliding mode control theory, a characteristic model-based adaptive terminal sliding mode control law is designed and utilized to improve control effects. Finally, simulation and real flight experimental results demonstrate that the proposed method enjoys effectiveness and superiority.