Enhanced Nonlinear Adaptive Control of a Novel Over-Actuated Reconfigurable Quadcopter

In this paper, we address the control of a novel over-actuated reconfigurable quadcopter that can change its arms to different orientations, to form various configurations models and navigate in a crowded environment. An enhanced Adaptive Nonsingular Fast Terminal Sliding Mode Control (ANFTSMC) method is suggested to manage the impact of the external disturbances. A comparative study with the conventional Backstepping (BS) and Sliding Mode (SM) controllers is provided to illustrate and asses the efficiency of the designed approach.