Modified super twisting control for robust trajectory tracking and hovering of quadrotor

Area of Science:

• Robotics and Control Systems
• Aerospace Engineering

Background:

• Quadrotor control requires robust methods for trajectory tracking and hovering.
• Existing modified super-twisting controllers necessitate knowledge of disturbance bounds.

Purpose of the Study:

• To develop a novel adaptive controller for quadrotors.
• To eliminate the need for prior knowledge of disturbance bounds in controller gain adaptation.

Main Methods:

• A novel adaptation-based modified super-twisting control strategy is proposed.
• A dynamic adaptation law is employed to adjust controller gains without disturbance information.
• The controller is designed within a nonlinear framework, avoiding quadrotor dynamics linearization.

Main Results:

• Numerical simulations demonstrate effective trajectory tracking and hovering performance under disturbance.
• The proposed controller shows superior performance compared to existing modified super-twisting control methods.
• The controller maintains effectiveness even when quadrotor states deviate significantly from nominal values.

Conclusions:

• The proposed adaptation-based modified super-twisting control offers enhanced quadrotor trajectory tracking and hovering.
• This adaptive approach provides a more practical and robust solution for quadrotor control applications.