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

Authors

• Alireza Modirrousta ¹
• Mahdi Khodabandeh ¹

• Department of Electrical Engineering, Hamedan University of Technology, Hamedan, Iran.

Abstract

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

Keywords

• Adaptive algorithm
• Backstepping method
• Terminal second order sliding mode
• Quadrotor