Inverse-Based Fast Attitude Control of Quadrotors

This study presents a fast attitude control for quadrotors with unknown disturbances. For the quadrotor attitude sub-system, the dynamic inverse control is first applied to decouple the attitude dynamics without using the small attitude angle assumption. Based on the decoupled attitude system, a nonsingular fast terminal sliding mode control (NFTSMC) is then developed to realize the finite-time convergence of Euler angles. In this NFTSMC, the finite-time disturbance observer is employed to obtain the necessary information of unknown disturbances, which is utilized to construct the sliding mode surface. As a result, the NFTSMC provides a good disturbance rejection ability. Simulations are implemented to show the effectiveness of our proposed control.