Finite-Time Super-Twisting Sliding Mode Control for Robust 3D Trajectory Tracking of a Quadrotor UAV
This paper presents a finite-time super-twisting sliding mode control (STWSMC) framework for robust three-dimensional (3D) trajectory tracking of a quadrotor unmanned aerial vehicle (UAV) operating under exogenous disturbances. The proposed approach ensures continuous control action while preserving finite-time convergence properties. A complete non-linear dynamic model of the quadrotor is considered, including translational-rotational couplings and gravitational effects. Separate STWSMC structures are developed for the altitude and attitude subsystems, guaranteeing robustness against bounded disturbances and model uncertainties without requiring explicit disturbance estimation. A Lyapunov-based stability analysis is carried out, proving finite-time convergence of the sliding variables and finite-time stability of the closed-loop tracking errors. Simulations demonstrate improved transient performance, reduced chattering amplitude, and enhanced robustness—particularly in yaw dynamics—when compared to a conventional second-order sliding mode control (SOSMC) scheme. The obtained results indicate that the proposed STWSMC strategy provides a theoretically sound and practically viable solution for high-performance quadrotor control.