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All Journal IAES International Journal of Robotics and Automation (IJRA)
Ali Al-Ghanimi
Swinburne University of Technology
Automotive Engineering Electrical & Electronics Engineering

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Finite time convergence based on third-order integral terminal sliding mode for tracking control perturbed quadrotor UAV Hala Hayder Al-Ankooshi; Ali Al-Ghanimi
IAES International Journal of Robotics and Automation (IJRA) Vol 15, No 2: June 2026
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.11591/ijra.v15i2.pp341-352

Abstract

Precise trajectory tracking of quadrotor unmanned aerial vehicles (UAVs) remains challenging due to inherent nonlinear dynamics, external disturbances, and model uncertainties encountered during flight operations. This paper presents a novel third-order integral terminal sliding mode control (3-ITSMC) algorithm for regulating the altitude (z) and roll (ϕ) dynamics of a quadrotor UAV subject to wind disturbances and parametric uncertainties. The proposed controller integrates an integral terminal sliding surface with a third-order super-twisting algorithm, achieving precise tracking with near-zero steady-state error, chattering-free control signal, and rapid finite-time convergence. Rigorously established through Lyapunov stability analysis on Closed-loop stability and finite-time convergence. Extensive simulation results conducted under step and sinusoidal reference trajectories with added sinusoidal wind disturbances demonstrate the effectiveness of the proposed method. The 3-ITSMC reduction in root-mean-square (RMS) up to 98.1% in tracking error and energy savings from 51.2% to 95.3% as compared to second-order (SMC), while maintaining preserving robust disturbance rejection throughout operation. These findings achieve that the proposed 3-ITSMC offers a robust and energy-efficient solution for high precision quadrotor control under realistic flight perturbations.
Co-Authors Hala Hayder Al-Ankooshi