Finite-time Adaptive Integral Backstepping Fast Terminal Sliding Mode Control Application on Quadrotor UAV

  • Karam Eliker
  • Weidong ZhangEmail author


This paper presents a reliable and novel quadrotor flight control system designed to enhance trajectory tracking performance, robustness and adaptiveness against the uncertain parameters and the external wind disturbance. By combining a recursive control methodology with a robust control algorithm, a finite-time adaptive integral backstepping fast terminal sliding mode control is designed for major control loops related to position tracking and attitude stabilization. To estimate quadrotor mass and inertia moments, only four adaptation laws are developed. To compensate the unknown upper bound on the disturbances, a robust and adaptive switching gain is designed. The designed controller guarantees that all the closed signals are semi-global practical finite-time stability while the tracking error converges to a small neighborhood of the origin. The obtained numerical results and comparison studies show the effectiveness, robustness, adaptiveness and energy efficiency of the proposed flight control system.


Adaptive control external disturbance finite-time tracking uncertain parameters unmanned aerial vehicle 


x, y, z

longitudinal, lateral, and altitude motions in Earth-fixed frame, respectively, m

ϕ, θ, ψ

roll, pitch, and heading angles in Earth-fixed frame, respectively, rad

p, q, r

roll, pitch, and heading rotational velocities in body-fixed frame, respectively, rad/s

Ix, Iy, Iz

roll, pitch, and yaw inertia moments, Kg.m2


gravity acceleration, m/s2


mass, Kg


distance between quadrotor center mass and the axis of the propeller, m

uϕ, uθ, uψ

aerodynamic roll, pitch, and heading moments, respectively, N.m


lift force, N


rotor j velocity, j = {1,2,3,4}, rad/s


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Copyright information

© ICROS, KIEE and Springer 2019

Authors and Affiliations

  1. 1.Department of AutomationShanghai Jiao Tong UniversityShanghaiP. R. China
  2. 2.Peng Cheng LaboratoryShenzhenP. R. China

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