Fuzzy sliding mode active disturbance rejection attitude control for quadcopters based on new hyperbolic reaching law

Aiming at the issue of wind speed and airflow disturbances in different directions and intensities that quadcopter may encounter during flightˈan advanced fuzzy sliding mode active disturbance rejection control system utilizing the hyperbolic convergence law is designed. Firstly, a dynamic mathematical model is established for a four-rotor wing, considering air drag interference, based on kinematic and dynamic analyses. Secondly, a novel hyperbolic sliding mode reaching law is introduced to enhance the anti-interference ability of fuzzy sliding mode active disturbance rejection controller. Finally, a comprehensive stability analysis is conducted to validate the efficacy of the proposed control law. Simulation results demonstrate that the controller exhibits robust interference rejection capabilities, rapid response times, and effectively regulates the flight attitude of the quadrotor.