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<p>A novel robust flight control scheme is investigated for a quadrotor unmanned aerial vehicle (QUAV) system subject to external time-varying disturbances and model parameter uncertainties. The scheme integrates a high-order sliding mode observer (HSMO) for real-time disturbance estimation with a compound recursive non-singular fast terminal sliding mode control (CRNFTSMC) for precisely and actively compensating for the estimated disturbances. A recursive integral terminal sliding surface is designed to ensure that the system’s tracking errors are uniform ultimate boundedness (UUB) and converge in finite time, as proven by a rigorous Lyapunov stability analysis. The effectiveness and superiority of the developed method are verified through comparative simulation studies.</p>

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Trajectory Tracking of Quadrotor UAV Based on Compound Recursive Non-Singular Fast Terminal Sliding Mode Control

  • 期刊论文

  • 发表日期：

    2026年4月3日

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  • Yuying Guo,
  • Kai Wang,
  • Xiaoqiang Zhang,
  • Lanxin Liao,
  • Youmin Zhang

摘要

A novel robust flight control scheme is investigated for a quadrotor unmanned aerial vehicle (QUAV) system subject to external time-varying disturbances and model parameter uncertainties. The scheme integrates a high-order sliding mode observer (HSMO) for real-time disturbance estimation with a compound recursive non-singular fast terminal sliding mode control (CRNFTSMC) for precisely and actively compensating for the estimated disturbances. A recursive integral terminal sliding surface is designed to ensure that the system’s tracking errors are uniform ultimate boundedness (UUB) and converge in finite time, as proven by a rigorous Lyapunov stability analysis. The effectiveness and superiority of the developed method are verified through comparative simulation studies.