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Finite-Time Attitude Control of Uncertain Quadrotor Aircraft via Continuous Terminal Sliding-Mode-Based Active Anti-Disturbance Approach

This research addresses the problem of robust attitude control for a quadrotor operating in an environment polluted with lumped disturbances. A new continuous terminal sliding mode-based active anti-disturbance control (CTSMBAADC) is proposed by innovatively introducing a finite-time disturbance observer (FTDO) in homogeneous continuous nonsingular terminal sliding mode control (HCNTSMC) law. The HCNTSMC scheme drives the states of the system to the reference setpoint in finite-time. Rigorous stability analysis of the feedback loop system is based on input-to-state stability (ISS) concept and more importantly Lyapunov theory. Real-time experiments are performed to validate the designed control law. Results witness that the proposed control structure offers superior performance in terms of robustness and accuracy while avoiding the singularity problem and significantly alleviating the chattering phenomenon.