Adaptive Integral-Type Terminal Sliding Mode Control for Unmanned Aerial Vehicle Under Model Uncertainties and External Disturbances

This paper proposes an adaptive integral-type terminal sliding mode approach for the attitude and position tracking control of a quadrotor UAV subject to model uncertainties external disturbances. First, tracker is designed attain performance in finite time when upper bound perturbations are known. Next, adaptation law proposed modified parameter-tuning scheme compensate The stability convergence verified using Lyapunov theory. Its assessed simulation study encompassing various scenarios. Low chattering dynamics, fast rate, absence singularities main features approach.