Sliding mode Control for Quad-rotor Based on Super-twisting Algorithm Disturbance Observation and Compensation

To solve the problem that quad-rotor is easy to be disturbed by external disturbances during flight because it is small in size and light in weight, a sliding mode control with sliding mode observation compensation based on super twisting algorithm is proposed to enhance the anti-disturbance ability of the controller. The controller makes the sliding mode control curve smoother and weaken the chattering phenomenon of the normal sliding mode control. Simulation and experimental results show that the above method can control the performance better.