The quadrotor has many potential applications such as infrastructure predictive maintenance in mining tunnels of the railway. In order to navigate through those environments by using the quadrotor drone, there are many challenges such as aerodynamics disturbances, parametric uncertainties, and noise measurements. A robust adaptive global time-varying sliding-mode controller (RAGTVSMC) is proposed to address the quadrotor path in the presence of the random disturbances and uncertainties. In order to eliminate the reaching phase and reduce the initial control effort, a novel time-varying sliding mode (TVSM) surface is presented for the quadrotor system. Moreover, the TVSM surface is designed to meet the impact time requirement with a global sliding mode. Adaptive laws are developed to address the upper bound of the additives disturbances on the quadrotor dynamics using only the error position and velocity. The convergence with specific time is assured and the quadrotor stability is proved according to Lyapunov’s theory. Finally, to demonstrate the effectiveness of the proposed controller in this work, simulations are conducted.

四旋翼飞机有许多潜在的应用，例如铁路矿山隧道中的基础设施预测维护。为了使用四旋翼无人机在这些环境中导航，存在许多挑战，例如空气动力学干扰，参数不确定性和噪声测量。提出了一种鲁棒的自适应全局时变滑模控制器（RAGTVSMC）来解决存在随机扰动和不确定性的四旋翼路径。为了消除到达阶段并减少初始控制工作量，提出了一种适用于四旋翼系统的新型时变滑模（TVSM）表面。此外，TVSM表面设计为以整体滑动模式满足冲击时间要求。开发了自适应定律，以仅使用误差位置和速度来解决四旋翼动力学上添加剂扰动的上限。确保了特定时间的收敛性，并根据李雅普诺夫的理论证明了四​​旋翼的稳定性。最后，为了证明所提出的控制器在这项工作中的有效性，进行了仿真。