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Trajectory tracking control design for quadcopter based on optimized integral super-twisting sliding mode technique
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DOI：10.1016/j.jestch.2025.102222.png)
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Abstract
En 中文
This paper is concerned with the design of trajectory tracking control techniques for quadcopters. An optimized control law, specifically a PID-based integral super-twisting sliding mode control, is proposed to achieve precise tracking of attitude, heading, position, and altitude. A nonlinear dynamic model of the quadcopter, accounting for gyroscopic moments and aerodynamic forces, is formulated using the Euler–Lagrange method. To enhance performance, genetic algorithm is employed to optimize the controller gains. The stability analysis is then carried out using Lyapunov function candidates. The effectiveness of the proposed method is evaluated through numerical simulations of the drone model based on various performance metrics for a 3D-helical trajectory. The simulation results demonstrate that the proposed approach outperforms existing techniques and achieves improved trajectory tracking accuracy. The controller is further validated using controller-in-the-loop testing, demonstrating its effectiveness in practical scenarios.
Keywords:
UAV
Quadrotor
Cross configuration
Trajectory tracking
PID
Genetic algorithm
Sliding mode control
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