Research on UAV Control Based on ESO-Based Global Fast Terminal Sliding Mode Adaptive Control

In this paper, a global fast terminal sliding mode controller based on an extended state observer is proposed for for precise tracking of reference trajectories of unmanned aerial vehicles with uncertain parameters. First, for the dynamics model of underdriven strong coupling of quadrotor, the theory of differential flatness is introduced to transform the model into a fully driven model, and the coupling terms in the model are considered as external perturbations. Then a global fast sliding mode controller is designed based on the position error and velocity error, and an extended state observer is introduced in the controller to observe the internal and external perturbations of the system. Finally, the adaptive law estimation parameters are designed for the problem of parameter changes when the quadrotor performs its mission to ensure the accurate and stable tracking on the trajectory of the quadrotor. The simulation experiments prove the effectiveness of the proposed method.