@article{Modirrousta_Khodabandeh_2024, title={Adaptive Second Order Terminal Backstepping Sliding Mode for Attitude Control of Quadrotor with External Disturbances}, volume={9}, url={https://oiccpress.com/Majlesi-Journal-of-Electrical-Engineering/article/adaptive-second-order-terminal-backstepping-sliding-mode-for-attitude-control-of-quadrotor-with-external-disturbances/}, abstractNote={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}, number={2}, journal={Majlesi Journal of Electrical Engineering}, publisher={OICC Press}, author={Modirrousta, Alireza and Khodabandeh, Mahdi}, year={2024}, month={Feb.}, keywords={Quadrotor, Adaptive algorithm, Backstepping method, Terminal second order sliding mode} }