Robust Attitude Control based on Continuous Differentiator and Adaptive Super Twisting for 3 DOF Quadrotor

A quaternion-based spacecraft model is used in this paper to design a nonlinear control law based on the adaptive second order sliding mode Super Twisting algorithm. The robust controller combined with the quaternion representation is applied to an unmanned aerial vehicle for attitude tracking and stabilisation in presence of external disturbances, parameters uncertainties and singularities. The stability and finite time convergence are proved through Lyapunov function candidate. The experimental results related to a real-time quadrotor plateform are included to show and demonstrate the effectiveness of the quaternion-based control.