FAST INTEGRAL TERMINAL SLIDING MODE CONTROL FOR AN UNDERACTUATED QUADROTOR WITH THE EXTERNAL DISTURBANCE AND INPUT SIGNAL DELAY

Abstract

This paper is invested to study trajectory tracking problem for Quadrotor unmanned aerial vehicle (UAV) subject to the external disturbance and input time delay. In this study, the Quadrotor with six degrees of freedom is considered as a highly nonlinear system, based on the Euler-Newton formulation, a math model of Quadrotor consists of translational and rotational systems is given. According to Pade approximation, a study is given about reducing time input delay. Then, a new robust control based on Integral Fast Terminal Sliding Mode Control (IFTSM) algorithm is proposed for both translational and rotational systems of quadrotor. The IFTSM control law: (i.) fast convergence errors; (ii.) chattering reduction; (iii.) to address the external disturbance and input time delay by its robustness. In addition, using the Lyapunov stability theory, the stability of the close- loop quadrotor system is guaranteed. Finally, a simulation built in MATLAB is given to prove the effectiveness of the proposed control law.