Terminal Synergetic Theory-Based Trajectory Tracking Control of Quadrotor with Rotating Arms Exposed to External Disturbances

A Terminal Synergetic Control (TSC) is proposed in this work to solve the trajectory tracking problem of a quadrotor with rotating arms exposed to external disturbances. This control strategy is based on synergetic control and the terminal attractor technique. Moreover, besides being chattering free, it has the advantage of having a simple structure, good tracking performance, and finite time convergence. Our system, which has the particularity of changing its shape during flight, is subject to the TSC. To show the effectiveness of the adopted control strategy, numerical simulations are run, and a qualitative and quantitative comparison with the Sliding Mode Controller (SMC) is made. According to the investigations, the TSC outperforms in terms of accuracy and robustness.