Abstract
A nonlinear control law is designed for quadrotors that considers actuator saturation, external disturbance, and unknown parameter variations that affect the stability of quadrotors. The proposed robust control law is based on sliding mode control with adaptive super twisting algorithm (SMC-ASTA) and has the sliding surface based on proportional derivative (PD) structure of error while the super twisting algorithm inherits proportional integral (PI) properties. Additionally, the discontinuous control gain of SMC-ASTA law is tuned adaptively as functions of sliding surfaces along with an alternative approach of fuzzy logic tuning. The proposed SMC-ASTA demonstrates improved performance in contexts of dynamic stability, command tracking, and control effort compared to the conventional sliding mode control (CSMC). Asymptotic stability of the proposed SMC-ASTA is theoretically justified with Lyapunov-based stability analysis. Comparative analysis of SMC-ASTA in simulation with the conventional SMC demonstrates its superiority and suggests its suitability for practical applications.
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