Real-time embedded system of super twisting-based integral sliding mode control for quadcopter UAV

This paper presents the development of set-point weighting-based integral super-twisting sliding mode control (SISTASMC) with full-order state observers to overcome the control challenges encountered with nonlinear and underactuated systems. Quadcopter UAV form is a good example of underactuated systems, and this is selected in this research for validating the developed control. A comparative assessment through experimental validation is conducted between SISTASMC and Set-point weighting-based Integral Sliding Mode Control to demonstrate the performance of both controllers. Based on predetermined performance criteria, the results obtained demonstrate good performance of SISTASMC in dealing with uncertainty