Adaptive Super Twisting Control of a Dual-rotor VTOL Flight System Under Model Uncertainties

Jorge M. Arizaga, Jose R. Noriega, L. A. Garcia-Delgado, Herman Castañeda*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

5 Scopus citations


This paper addresses an adaptive super twisting control for a dual-rotor flight system subject to uncertainties. The system can perform vertical take-off and landing, roll and yaw movements. The dynamical model is described under the Euler-Lagrange approach, where a characterization of the thrust and the torque of the rotors is included. However, uncertainties such as friction and unmodeled dynamics remain. To overcome these problems, a class of adaptive sliding mode control is designed, which is robust to bounded uncertainties and external perturbations, offers reduced chattering, and not overestimate the control gain. Furthermore, the closed-loop stability is analyzed. Finally, simulation and experimental validation, and a comparison versus other standard control approaches illustrate the feasibility and usefulness of the proposed controller.

Original languageEnglish
Pages (from-to)2251-2259
Number of pages9
JournalInternational Journal of Control, Automation and Systems
Issue number6
StatePublished - Jun 2021

Bibliographical note

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© 2021, ICROS, KIEE and Springer.


  • Adaptive sliding mode control
  • UAS
  • UAV
  • flight systems


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