A robust global fast terminal sliding mode controller for quadrotor helicopters

Abstract

This paper investigated a robust global fast terminal sliding mode control approach for quadrotor helicopters with time-varying uncertainties. The controller adopts inner-outer loop control structure. The inner loop is the attitude subsystem, while the outer loop is the position subsystem. Based on the global fast terminal sliding mode control theory, the… (More)
DOI: 10.1109/ICCIS.2017.8274748

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