Adaptive fast terminal sliding mode (FTSM) control design for quadrotor UAV under external windy disturbances

In this article, an adaptive fast terminal sliding mode (FTSM) control methodology is constructed for quadrotor UAV with windy disturbances. The proposed control algorithm combines the advantages of adaptive control with fast terminal sliding mode control. The fast terminal sliding mode (FTSM) control algorithm increases the speed of convergence to the desired point. In addition, it guarantees the system reaches a steady state at a finite time. The Lyapunov function ensure that the system is asymptotic globally stable. In addition, the adaptive law reduces the chattering about the sliding mode control and increases the robustness of the closed-loop system. Simulation results present that this strategy have better robustness and faster transient response than the traditional sliding mode control method.