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International Journal of Frontiers in Engineering Technology, 2023, 5(12); doi: 10.25236/IJFET.2023.051215.

Trajectory Control of Quadrotor UAV Based on Adaptive Super-twisting Sliding Mode


Yang Yang, Wei Su

Corresponding Author:
Yang Yang

School of Information and Control Engineering, Jilin Institute of Chemical Technology, Jilin, 132000, China


An adaptive super-twisting sliding mode control strategy is proposed to solve the problems of quadrotor UAV is easily disturbed by uncertainties in the environment in actual flight. Firstly, aiming at the chattering problem of traditional sliding mode control in the application process, the super-twisting sliding mode control in high-order sliding mode theory was used to weaken the chattering problem of the system. Then, aiming at the parameter adjustment problem of the controller, the adaptive control is used to automatically adjust the controller parameters to realize the trajectory tracking control, and the stability of the controller is proved based on Lyapunov theory. Finally, the simulation results show that the proposed strategy has faster response speed and higher accuracy.


quadrotor UAV; adaptive; super-twisting sliding mode control; trajectory control

Cite This Paper

Yang Yang, Wei Su. Trajectory Control of Quadrotor UAV Based on Adaptive Super-twisting Sliding Mode. International Journal of Frontiers in Engineering Technology (2023), Vol. 5, Issue 12: 97-105. https://doi.org/10.25236/IJFET.2023.051215.


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