Finite-Time Rapid Global Sliding-Mode Control for Quadrotor Trajectory Tracking

To enhance the position and attitude-control of quadrotor for trajectory tracking, we propose a fast decay function utilizing exponential property to improve performance global sliding-mode control, allowing initial value quickly reach equilibrium. The main research is focused on deriving finite settling time using proposed presenting detailed calculation process, instead making simple modification monotonic exponential-decay function. Moreover, adopt an adaptive control law ensure robustness quadrotor, even without knowing upper bound disturbances. In addition, perform time-varying mass simulations because quadrotor’s load may change during maneuvering. Furthermore, Lyapunov function, stability entire closed-loop system ensured by step-by-step stabilization each subsystem. simulation results show that rapid (RGSMC) designed more effective than conventional sliding mode with respect tracking against external Hence, verified.