Quadrotor-Based Aerial Manipulator Altitude and Attitude Tracking using Adaptive Super-Twisting Sliding Mode Control

This paper presents the altitude and attitude tracking for a quadrotor-based aerial manipulator using adaptive super-twisting sliding mode control. The aerial manipulator model is derived analytically using the Newton-Euler formulation for the quadrotor and the recursive Newton-Euler formulation for the manipulator. The adaptive super-twisting sliding mode control for altitude and attitude tracking of the aerial manipulator is then presented. The controller is tested via simulation for altitude and attitude tracking with manipulator motion, including added disturbances and noise. The results for the adaptive super-twisting sliding mode control show better tracking performance, reduced chattering, and reduced control effort when compared to a standard super-twisting sliding mode control.