Position and Attitude control of a Quadrotor UAV using Super Twisting Sliding Mode

This paper discusses a super twisting sliding mode controller designed for a quadrotor Unmanned Aerial Vehicle by utilising a cascaded inner outer loop structure. The sliding mode controller helps reject disturbances and model uncertainties, whereas the super twisting algorithm helps reduce the chattering effect. The controller is tested against wind turbulence conditions and modelling uncertainties. Results are compared with popularly used linear LQR-PD controller and a non-linear feedback linearization based controller. It's robustness is also compared against a conventional first order sliding mode controller and the results are presented.