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This work addresses the modelling and control aspects for quadcopter or droneunmanned aerial vehicles (UAVs). First, the mathematical model of the drone isderived by identifying significant parameters and the negligible ones aretreated as disturbances. The control design begins with the switching surfaceselection, then, an Adaptive Super Twisting Sliding Mode (ASTSM) Controlalgorithm is applied to adjust attitudes of the quadcopter under harshconditions such as nonlinear, strong coupling, high uncertainties anddisturbances. Simulation results show that the proposed controller can achieverobust operation with disturbance rejection, parametric variation adaptation aswell as chattering attenuation. Comparisons with some commonly used andadvanced controllers in a quadcopter model show advantages of the proposedcontrol scheme.

Adaptive Super-twisting Second-order Sliding Mode for Attitude Control of Quadcopter UAVs