Finite Integral Terminal Synergetic Control of a Disturbed Quadcopter with Variable Geometry

This paper, puts forward the control of a quadcopter with variable geometry exposed to external disturbances. Using a finite Integral Terminal Synergetic Control (ITSC) scheme, which was designed to solve the trajectory tracking problem. This controller has the advantages of: use a continuous control law that eliminates the chattering phenomenon, convergence of states in finite time, good tracking performance and simple structure. Moreover, it is well suited in practice to digital implementation. The dynamics of the proposed system are derived on the basis of Newton-Euler formalism, followed by a robust control method. Lyapunov framework is exploited to ensure the stability of the controlled system. Simulation results of the designed ITSC, are exhibiting the ability of the proposed control technique for rapidly achieving the desired trajectories in a robust manner. A comparative study in both quantitative and qualitative case is carried out between ITSC and Sliding Mode Controller (SMC). Overall, the findings show that the proposed control technique outperforms in terms of accuracy and robustness.