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Trajectory tracking control of quadrotor UAV based on composite global non-singular fast terminal sliding mode
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Cheng CHEN1, Yunping LIU1, Yonghong ZHANG1, Yuanxin SUN1, Liang XU2
Journal of Chinese Inertial Technology | 2025, 33(10) : 1050 - 1060
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Journal of Chinese Inertial Technology | 2025, 33(10): 1050-1060
• Control and Dynamics •
Trajectory tracking control of quadrotor UAV based on composite global non-singular fast terminal sliding mode
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Cheng CHEN1, Yunping LIU1, Yonghong ZHANG1, Yuanxin SUN1, Liang XU2
Affiliations
  • 1.School of Automation, Nanjing University of Information Science and Technology, Nanjing 211044, China
  • 2.PLA Dalian Naval Academy, Dalian 116016, China
Published: 2025-10-30 doi: 10.13695/j.cnki.12-1222/o3.2025.10.012
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To improve the trajectory tracking accuracy and rapidity of quadrotor unmanned aerial vehicles under multi-source interference, a composite global non-singular fast terminal sliding mode control method is proposed. Firstly, the characteristics of the position and attitude loop of the quadrotor UAV are fully considered and divided into four independent channels to convert them into cascade channels. Secondly, the expanded state observer is adopted to estimate the lumped interference (coupling terms and external disturbances in each channel) and state information. Based on the estimated information, a composite global non-singular fast terminal sliding mode control method is designed, and the saturation function is used instead of the sign function to ensure the continuity of the control quantity. Finally, the simulation results show that compared with the traditional PID, active disturbance rejection control, and non-singular fast terminal sliding mode control schemes, the proposed control schemes are 76.3%, 62.7% and 74.4% higher, verifying that the proposed control schemes have higher trajectory tracking accuracy and anti-disturbance.

quadrotor UAV  /  trajectory tracking  /  extended state observer  /  non-singular fast terminal sliding mode  /  anti-disturbance
Cheng CHEN, Yunping LIU, Yonghong ZHANG, Yuanxin SUN, Liang XU. Trajectory tracking control of quadrotor UAV based on composite global non-singular fast terminal sliding mode[J]. Journal of Chinese Inertial Technology, 2025 , 33 (10) : 1050 -1060 . DOI: 10.13695/j.cnki.12-1222/o3.2025.10.012
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Year 2025 volume 33 Issue 10
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Article Info
doi: 10.13695/j.cnki.12-1222/o3.2025.10.012
  • Receive Date：2024-11-02
  • Online Date：2026-03-27
  • Published：2025-10-30
Article Data
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History
  • Received：2024-11-02
  • Accepted：2025-04-20
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Affiliations
    1.School of Automation, Nanjing University of Information Science and Technology, Nanjing 211044, China
    2.PLA Dalian Naval Academy, Dalian 116016, China
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Citations
表12种不同金属材料的力学参数
科
Family		 属数
Number of
genus		 种数
Number of
species		 占总种数比例
Percentage of
total species (%)		 属
Genus		 种数
Number of
species		 占总种数比例
Percentage of total
species (%)
鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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