Design of an Adaptive Integral Sliding Mode Control for Robust and Finite Time Stabilization for a Quadrotor

In this paper, finite time stabilization for a quadrotor has been presented based on an adaptive sliding mode control with nonsingular terminal surface. The introduced system model has been divided into the full actuated and under actuated system. Then, a new controller based on homogeneity geometry and sliding mode control has been proposed for these two subsystems. The main purpose of the control scheme is proposing a robust controller against the unknown uncertainty and external disturbance. The integral error has been added into the set of tracking errors to raise the tracking accuracy and to improve the controller performance against external disturbance. Finally, the results of the simulation and comparison study in the presence of inertia uncertainty and external disturbance have been presented to demonstrate the robustness and high performance of the controller.