Backstepping-based Super-Twisting Sliding Mode Control for a Quadrotor Manipulator with Tiltable Rotors

Designing a robust controller is very important in the control of outdoor unmanned aerial vehicles. This paper presents design procedures and implementation super-twisting sliding mode controller, which nonlinear controller. The applied to an over-actuated quadrotor manipulator with four tiltable rotors. A serial two links mounted on bottom quadrotor. possesses property decoupling its position orientation. main contribute this that vector form designed manipulator. Another contribution stability closed-loop system proved by utilizing Lyapunov theory. It confirmed performance superior conventional backstepping terms convergence rate accuracy simulations.