TY - EJOUR
AU - Modirrousta, Alireza
AU - Khodabandeh, Mahdi
PY - 2024
DA - February
TI - Adaptive Second Order Terminal Backstepping Sliding Mode for Attitude Control of Quadrotor with External Disturbances
T2 - Majlesi Journal of Electrical Engineering
VL - 9
L1 - https://oiccpress.com/Majlesi-Journal-of-Electrical-Engineering/article/adaptive-second-order-terminal-backstepping-sliding-mode-for-attitude-control-of-quadrotor-with-external-disturbances/
N2 - 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
IS - 2
PB - OICC Press
KW - Terminal second order sliding mode, Quadrotor, Adaptive algorithm, Backstepping method 
EN -