On the quadrotor trajectory tracking problem via super twisting technique

This paper presents the design of a controller for trajectory tracking of a quadrotor helicopter based on the block control technique combined with the super twisting control algorithm. The virtual control inputs are estimated via the first order exact differentiator, which simplify the control law design. Moreover, the wind parameter resulting from the aerodynamic forces is also estimated in order to ensure robustness against these unmatched perturbations. The stability and finite time convergence characteristics of this algorithm have been recently proved using Lyapunov functions, so the stability analysis of the proposed controller has been carried out in the same way. A simulation study that takes into account external disturbances is carried out in order to show the performance of the proposed controller.