Robust finite-time model reference adaptive control for attitude control of four-rotor unmanned aerial vehicle with disturbances

This paper presents a new hybrid control framework—Model Reference Adaptive Control with a Barrier Lyapunov Function-based PID Backstepping Nonsingular Terminal Sliding Mode Control (MRA-BLF-PBNTSMC)—for robust attitude control of four-rotor UAVs under disturbances and uncertainties. By integrating...

Full description

Bibliographic Details

Published in:	Ain Shams Engineering Journal
Main Authors:	Syed Awais Ali Shah, Shuanghe Yu, Mohammed El-Meligy, Haitham A. Mahmoud, Nigar Ahmed, Aziz Noor
Format:	Article
Language:	English
Published:	Elsevier 2025-11-01
Subjects:	Adaptive control Backstepping Barrier Lyapunov function Nonsingular terminal sliding mode control Disturbance observer
Online Access:	http://www.sciencedirect.com/science/article/pii/S2090447925003806