Abstract
This paper introduces an attitude control of quadcopter based on three versions of synergetic control. The work aims to study the response of the system using three types of synergetic control manifolds: conventional, terminal and non-singular terminal manifolds. The main concept of synergetic control is to steer the system states to reach the desired manifold and then force them to stay on the manifold without causing the chattering in the control action. The closed-loop system stability using the three types of synergetic has been proved by the Lyapunov technique. The simulation results illustrate the effectiveness of the three types of synergetic control approaches in the workspace trajectory tracking of a quadcopter.