Dynamic Modeling and Stabilization of Surveillance Quadcopter in Space based on Integral Super Twisting Sliding Mode Control Strategy

Abstract

This paper demonstrates the detailed derivation of underactuated quadcopter modelling using the Lagrange-Euler/ Newton-Euler equations along with the designing of flight controllers to ensure the stability of both its linear and angular motion during hover condition much more precisely compared to the previous research work. In this research work, a neuro fuzzy based adaptive integral super twisting sliding mode control (SMC) have been simulated in Matlab/Simulink. According to the Lyapunov stability, all signals of a quadcopter system are uniformly ultimately bounded (UUB). Finally the simulation result comparison with an integral backstepping control law exhibit the flexibility and advantages of the proposed nonlinear control technique.