Abstract:

This project presents a novel adaptive nonsingular terminal sliding mode control (NSTSMC) strategy with a variable exponent for robust attitude tracking of a quadrotor under external disturbances. In contrast to existing fixed-time (FxT) control methods, the proposed approach introduces an adjustable exponent, which takes values greater than or less than one based on the system state’s proximity to the reference trajectory. Moreover, six switching control gains are tuned adaptively while the nominal parameters are optimized using the Sine Cosine Optimization algorithm to minimize the control effort. Thus, the proposed scheme improves both the transient and steady-state behavior while achieving practical FxT stability. The FxT convergence of the overall system is analytically guaranteed using Lyapunov stability theory. Furthermore, simulation results with comparative analysis validate the robustness and efficiency of the proposed control design.

Speaker Bio:

Mr. Abdullah Abushokor holds a Bachelor's degree in Mechanical/Mechatronics Engineering from Palestine Polytechnic University. He is currently pursuing a Master of Science in Control and Systems Engineering in the Control and Instrumentation Engineering Department at King Fahd University of Petroleum and Minerals (KFUPM), Dhahran, Saudi Arabia. His research interests include nonlinear control systems, adaptive control, and Time delay control. Mr. Abushokor is actively engaged in the development of advanced control strategies for robotics and autonomous systems, with a particular emphasis on practical fixed-time stability, adaptive mechanisms, and optimization-driven design methods.