Adaptive Terminal Sliding Mode Method for Quadrotor Attitude Control based on Characteristic Modeling Theory

This paper develops an adaptive terminal sliding mode control strategy based on characteristic modeling theory for quadrotor attitude control with strong coupling, nonlinear and unmodeled disturbances in UAV. Firstly, the characteristic model of attitude dynamics is established, and the characteristic parameters of the model are identified by the improved recursive least square method with forgetting factor. Secondly, an adaptive terminal sliding model attitude control law (ADTSMC) based on CM is developed, in which extended state observer (ESO) is incorporated to estimate disturbances in real time, to improve the tracking effect of each attitude channel. Finally, the results of simulation experiment show the effectiveness and superiority of the proposed method.