Global Fast Terminal Sliding Mode Control for a Quadrotor UAV

A control method based on global fast terminal sliding mode control (GFTSMC) technique is proposed to track desired trajectories of a quadrotor UAV. By taking into account the high-order nonholonomic constraints to control the six degrees of freedom system with four inputs. The whole system control can be divided into position control unit and attitude control unit, adopt GFTSMC to achieve reference position and attitude. And because of the characteristic of GFTSMC, the robustness and timeliness of the convergence process of the quadrotor system can be guaranteed.