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http://dx.doi.org/10.5139/JKSAS.2020.48.5.373

Performance Analysis for Quadrotor Attitude Control by Super Twisting Algorithm  

Jang, Seok-ho (Chosun University)
Yang, You-young (Chosun University)
Leeghim, Henzeh (Chosun University)
Publication Information
Journal of the Korean Society for Aeronautical & Space Sciences / v.48, no.5, 2020 , pp. 373-381 More about this Journal
Abstract
Quadrotor is simple to model because of the symmetric structure but it has the disadvantage of being relatively sensitive to the external disturbance and system uncertainty. The PID technique applied for the attitude control of quadrotor has been applied comprehensively, but it has a disadvantage that is hard to precise control in the nonlinear system. In this work, a quadrotor attitude control law using the super twisting algorithm is studied, which has robust characteristics against disturbance and system uncertainty. To evaluate the attitude performance by the proposed technique, simulation studies and actual flight tests are carried out, and compared with the conventional PID controller.
Keywords
Quadrotor; Flight Performance; PID Control; Sliding Mode Control; Super Twisting Algorithm;
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