{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,19]],"date-time":"2025-10-19T16:14:18Z","timestamp":1760890458942,"version":"build-2065373602"},"reference-count":33,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T00:00:00Z","timestamp":1649116800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In this paper, a disturbance observer based on the non-singular terminal sliding mode control method was presented for the quadrotor in the presence of wind perturbation. First, the position and attitude dynamical equation of the quadrotor was introduced in the existence of windy perturbation. It was difficult to exactly determine the upper bound of the perturbations in the practical systems such as robot manipulators and quadrotor UAVs. Then, a disturbance observer was designed for the estimation of wind perturbation which was entered to the quadrotor system at any moment. Afterward, a non-singular terminal sliding surface was proposed based on the disturbance observer variable. Furthermore, finite time convergence of the closed-loop position and attitude models of the quadrotor was proved using Lyapunov theory concept. Unlike the existing methods, the new adaptive non-singular terminal sliding mode tracker for quadrotor unmanned aerial vehicles enabled accurate tracking control, robust performance, and parameter tuning. Through the combination of the finite time tracker and disturbance observer, the position and attitude tracking of quadrotor UAVs could be accurately performed not only in the nominal environment but also in the existence of different types of perturbations. Finally, simulation results based on the recommended method were provided to validate the proficiency of the suggested method. Moreover, comparison results with another existing study were presented to prove the success of the proposed method.<\/jats:p>","DOI":"10.3390\/s22072785","type":"journal-article","created":{"date-parts":[[2022,4,5]],"date-time":"2022-04-05T11:26:07Z","timestamp":1649157967000},"page":"2785","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":10,"title":["Non-Singular Finite Time Tracking Control Approach Based on Disturbance Observers for Perturbed Quadrotor Unmanned Aerial Vehicles"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9780-8249","authenticated-orcid":false,"given":"Fayez F. M.","family":"El-Sousy","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, Prince Sattam Bin Abdulaziz University, Al Kharj 11942, Saudi Arabia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6528-3636","authenticated-orcid":false,"given":"Khalid A.","family":"Alattas","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 21959, Saudi Arabia"}]},{"given":"Omid","family":"Mofid","sequence":"additional","affiliation":[{"name":"Future Technology Research Center, National Yunlin University of Science and Technology, Douliu 64002, Taiwan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5676-1875","authenticated-orcid":false,"given":"Saleh","family":"Mobayen","sequence":"additional","affiliation":[{"name":"Future Technology Research Center, National Yunlin University of Science and Technology, Douliu 64002, Taiwan"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6862-1634","authenticated-orcid":false,"given":"Jihad H.","family":"Asad","sequence":"additional","affiliation":[{"name":"Department of Physics, Faculty of Applied Sciences, Palestine Technical University, Kadoorie, Tulkarm P.O. Box 7, Palestine"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8290-8375","authenticated-orcid":false,"given":"Pawe\u0142","family":"Skruch","sequence":"additional","affiliation":[{"name":"Department of Automatic Control and Robotics, AGH University of Science and Technology, 30-059 Krak\u00f3w, Poland"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1333-5646","authenticated-orcid":false,"given":"Wudhichai","family":"Assawinchaichote","sequence":"additional","affiliation":[{"name":"Department of Electronic and Telecommunication Engineering, Faculty of Engineering, King Mongkut\u2019s University of Technology Thonburi, Bangkok 10140, Thailand"}]}],"member":"1968","published-online":{"date-parts":[[2022,4,5]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"106415","DOI":"10.1016\/j.ast.2020.106415","article-title":"An integral TSMC-based adaptive fault-tolerant control for quadrotor with external disturbances and parametric uncertainties","volume":"109","author":"Tang","year":"2021","journal-title":"Aerosp. 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