Optimized adaptive variable exponent nonsingular terminal SMC for trajectory tracking of a quadrotor

Abdullah Abushokor, Syed Muhammad Amrr, Sami El Ferik, Mujahed Al-Dhaifallah, Instrumentation Engineering Department, King Fahd University of Petroleum , Saudi Arabia, Interdisciplinary Research Center for Sustainable Energy Systems , Saudi Arabia, Interdisciplinary Research Center for Smart Mobility and Logistics , Saudi Arabia

Journal of Vibration and Control

Published online on February 27, 2026

Abstract

Journal of Vibration and Control, Ahead of Print.
This paper presents a novel adaptive nonsingular terminal sliding mode control (NSTSMC) strategy with a variable exponent approach for robust quadrotor attitude tracking under external disturbances. The proposed controller introduces, for the first time, ...