Chattering free and nonsingular terminal sliding mode control for attitude tracking of a quadrotor

This paper considers a nonsingular terminal sliding mode control problem for the attitude tracking of a quadrotor. To solve the chattering problem of sliding mode control, a novel terminal sliding mode controller based on a second-order sliding mode algorithm known as super-twisting algorithm is proposed. With the help of the proposed terminal sliding mode controller, the pitch, roll and yaw angles of quadrotor with disturbances can be guaranteed to track the desired trajectories in finite time. Finally, the simulation shows the effectiveness of the proposed control algorithm.