Quaternion-based adaptive backstepping fast terminal sliding mode control for quadrotor UAVs with finite time convergence

This paper proposes a novel quaternion-based approach for tracking the translation (position and linear velocity) and rotation (attitude and angular velocity) trajectories of underactuated Unmanned Aerial Vehicles (UAVs). Quadrotor UAVs are challenging regarding accuracy, singularity, and uncertaint...

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Autori principali:	Arezo Shevidi, Hashim A. Hashim
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	Elsevier 2024-09-01
Serie:	Results in Engineering
Soggetti:	Adaptive backstepping control (ABC) Adaptive fast terminal sliding mode control (AFTSMC) Unit-quaternion Unmanned aerial vehicles Pose control
Accesso online:	http://www.sciencedirect.com/science/article/pii/S2590123024007527
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