Abstract
A new scheme for the attitude control of the quadrotor in presence of uncertainties and disturbances is presented. The proposed algorithm is a modified Super Twisting control -MSTW-. The aim of this technique is to solve the main disadvantage of the classical Super Twisting -STW- which is chattering. Moreover, the proposed scheme allows reduced control effort and accurate tracking. The elimination of the chattering phenomena is due to the continuous outputs generated by the MSTW. The finite time convergence and stability analysis of the closed loop system are derived using Lyapunov function techniques. The experimental validation is done to emphasize the good performances of the new scheme in terms of accuracy, robustness, finite-time convergence and chattering elimination with less control effort.
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