Terminal Synergetic Control for Quadcopter under External Disturbances and Parameter Uncertainties

Quadcopters have become essential tools in many industries, thanks to their agility and flexible design. Still, controlling them remains a complex challenge, especially when it comes to maintaining precise trajectory tracking and stability under external disturbances and uncertain parameters. In this work, we propose an optimized Terminal Synergetic Control (TSC) based on Equilibrium Optimizer (EO) algorithm. This approach allows for fast convergence while reducing chattering effects, which are common in nonlinear control systems. To ensure reliability in real-world conditions, we rigorously prove closed-loop stability using Lyapunov analysis. A series of simulations are carried out under different scenarios including disturbances, parameter variations, and payload changes to test the robustness and effectiveness of the control strategy. The results are compared with existing methods, and the analysis shows that the proposed approach delivers superior performance.