Application of Nonsingular Global Terminal Sliding Mode Control in Hierarchical Control System for Quadrotor

To address the requirements of response speed and disturbance rejection in quadrotor control, this paper proposes a hierarchical sliding mode control strategy. The inner loop employs a nonsingular global fast terminal sliding mode controller to enhance the dynamic performance of quadrotor, while the outer loop incorporates PID position tracking to achieve horizontal displacement control. Simulation results demonstrate that the proposed method improves the quadrotor’s disturbance rejection capability during tracking tasks.