The rapid advancement of quadrotor systems has introduced significant challenges across multiple disciplines. Among these, fault tolerance and trajectory tracking in complex environments have long been recognized as critical challenges in quadrotor control research. To address issues such as rotor performance degradation and external disturbances, a novel position-attitude control system was developed, aimed to achieve precise position and attitude tracking. Initially, a dynamic model of the quadrotor was formulated, serving as the foundation for the controller design. Super-twisting algorithm terminal sliding-mode control (STATSMC) was then employed within the position loop to suppress chattering by the super-twisting algorithm. Subsequently, a new super-twisting algorithm beckstepping adaptive terminal sliding-mode control (STABATSMC) was proposed to mitigate the controller output and merge enable adherence to the desired Euler angles in case of failure. This approach enables the quadrotor to accurately follow position commands and achieve the desired attitude angles. The introduction of terminal sliding-mode control enhances convergence speed and tracking precision, while the super-twisting algorithm mitigates chattering and smoothens the control output. Finally, a series of simulation experiments were conducted within the Simulink environment to validate the proposed control system. The experimental results are compared with the state-of-art terminal sliding-mode control method, demonstrating the superior performance and effectiveness of the proposed method.


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    Title :

    Super-Twisting Algorithm Backstepping Adaptive Terminal Sliding-Mode Tracking Control of Quadrotor Drones Subjected to Faults and Disturbances


    Contributors:
    Ye Zhang (author) / Yihao Fu (author) / Zhiguo Han (author) / Jingyu Wang (author)


    Publication date :

    2025




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




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