Modified Super-Twisting Sliding Mode-based Control Design for Robust Hovering of Quadrotor

In order to allow the quadrotor to perform the hover maneuver at the desired altitude, a unique controller design based on modified super-twisting sliding mode control is proposed in this research. The proposed controller can operate even for significant state deviations from their nominal values because it is constructed inside a nonlinear framework without performing linearization of quadrotor dynamics. The control designer can assign values to the gains without knowing the precise values of the disturbance or their upper bounds due to the proposed dynamic adaptation law. This makes it easier to implement the suggested controller in real-world circumstances. Numerical simulations are used to validate the robust hovering control of the quadrotor performance in the presence of disturbance. To evaluate the controller effectiveness, the performance of the modified super twisting control is compared with that of the super twisting control, and the proposed controller outperforms the existing one.