Title: Adaptive twisting sliding mode control for quadrotor unmanned aerial vehicles,
Abstract: This work addresses the problem of robust attitude control of quadcopters.
First, the mathematical model of the quadcopter is derived considering factors
such as nonlinearity, external disturbances, uncertain dynamics and strong
coupling. An adaptive twisting sliding mode control algorithm is then developed
with the objective of controlling the quadcopter to track desired attitudes
under various conditions. For this, the twisting sliding mode control law is
modified with a proposed gain adaptation scheme to improve the control
transient and tracking performance. Extensive simulation studies and
comparisons with experimental data have been carried out for a Solo quadcopter.
The results show that the proposed control scheme can achieve strong robustness
against disturbances while is adaptable to parametric variations.