Real-Time Improvement of a Trajectory-Tracking Control Based on Super-Twisting Algorithm for a Quadrotor Aircraft

This article addresses the development and experimental validation of a trajectory-tracking control for miniature autonomous Quadrotor helicopter system (X4-prototype) using robust algorithm based on second-order sliding mode technique or also known as super-twisting in outdoor environments. nonlinear strategy guarantees convergence finite time to desired path r(t) presence external disturbances uncertainties model affecting appropriate behavior our helicopter. For this purpose, polynomial smooth curve trajectory is selected reference signal where corresponding derivatives function are bounded. Moreover, we consider due wind gusts acting aerial vehicle, pre-programmed an advanced autopilot system. The proposed solution consists implementing real-time law GPS measurements order obtain position xy-plane accomplish trajectory. Simulation results presented demonstrate performance robustness controller windy conditions.