Super-twisting control scheme for a miniature Quadrotor aircraft: Application to trajectory-tracking problem

This article addresses the trajectory-tracking problem for a miniature Quadrotor aircraft system using a super-twisting technique in real-time application. This strategy ensures the convergence in finite time to a desired programmed trajectory under bounded external perturbations such as wind gusts. The proposed solution consists of implementing a real-time strategy based on super-twisting control using GPS measurements in order to obtain the horizontal position to accomplish the desired trajectory. A Lyapunov theory is used in order to demonstrate the stability of the system in finite time. Simulation results and experimental autonomous trajectory-tracking flight are presented to evaluate the corresponding efficiency of the proposed control algorithm under external disturbances affecting the aerial vehicle.