Path following control for quadcopters with super twisting sliding mode control with PID sliding surface technique

This article proposes a novel super twisting sliding mode control with PID sliding surface (PID-STSMC) to improve path following and hovering maneuvers of the quadcopter. The proposed controller is robust as it ensures that the quadcopter track the desired path with a very small error and minimum control effort even in the presence of the periodic disturbances, sensor noise, and wind disturbances. The simulation results conform the effectiveness of the proposed controller in path following and hovering maneuvers of the quadcopter. The proposed controller outperforms the existing controller, proportional integral derivative sliding mode control, and proportional integral derivative adaptive sliding mode control when compared.