Finite-Time Altitude and Attitude Tracking of a Tri-Rotor UAV using Modified Super-Twisting Second Order Sliding Mode

This paper presents the problem of robust altitude and attitude trajectory tracking of a tri-rotor Unmanned Aerial Vehicle (UAV) based on a finite-time second order sliding mode control algorithm. The chosen algorithm is a modified super-twisting control with double closed-loop feedback regulation that provides fast finite-time convergence even when the system trajectories are far from the sliding surface, robustness against a wide class of uncertainties and disturbances. Moreover, this algorithm eliminates the major disadvantage of the classical sliding mode, the well-known chattering phenomenon. The stability analysis of the closed-loop system and the convergence time are given based on a strong Lyapunov function. To show the effectiveness of the used method, simulation results of different scenarios are presented for the considered tri-rotor UAV.

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