Second Order Fast Terminal Sliding Mode Control for Trajectory Tracking of QUAVs

In this paper, a trajectory tracking control scheme is presented for a quadrotor unmanned aerial vehicle (QUAV) which is a class of under-actuated nonliner system. Within this scheme, the control system is employed which is divided into two parts: a fully actuated subsystem and an under-actuated subsystem. For the former, a fast terminal sliding mode controller is proposed, while a second-order fast terminal sliding mode adaptive controller is developed for the under-actuated subsystem. Which ensures that all the signals in the overall system are bounded, and the all state variables can be tracked to the reference trajectories. The simulation results demonstrate the effectiveness of the proposed approach.