Abstract
This research paper proposes a super twisting-based sliding mode controller for quadcopter's attitude and position tracking in the presence of uncertainties. In the design of a super twisting-based sliding mode controller, the PID sliding surface is taken into account, which can improve the tracking performance. The Lyapunov-based stability analysis has been shown to ensure finite time stability of the sliding variables, and then the convergence of error trajectories has been discussed. The designed controller has been validated by simulations in MATLAB and Software-In-The-Loop (SITL) simulations in a ROS-Gazebo based environment simulator for the Iris model. The simulations demonstrate the robustness of the proposed controller to different wind disturbances.
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