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In this paper, an adaptive super-twisting controller is designed for an agilemaneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectorytracking in the presence of external disturbances. A cascaded controlarchitecture is designed to determine the desired accelerations using theproposed controller and subsequently used to compute the desired orientationand angular rates. The finite-time convergence of sliding functions andclosed-loop system stability are analytically proven. Furthermore, therestrictive assumption on the maximum variation of the disturbance is relaxedby designing a gain adaptation law and low-pass filtering of the estimatedequivalent control. The proper selection of design parameters is discussed indetail. Finally, the effectiveness of the proposed method is evaluated byhigh-fidelity software-in-the-loop simulations and validated by experimentalstudies.

Adaptive Super-Twisting Controller Design for Accurate Trajectory Tracking Performance of Unmanned Aerial Vehicles