Finite Time Back Stepping Supper Twisting Controller Design for a Quadrotor

The purpose of this paper is to control a quadrotor in a finite-time. Here the nonlinear controller is designed by the back-stepping method. For each quadrotor subsystem, a proposed finite-time nonlinear controller is designed in several steps. In addition, in the last step of the controller design algorithm, the super-twisting method is used, which is robust to uncertainties. This method produces a smooth control signal because it is a second-order sliding mode algorithm. This control system ensures finite-time convergence of quadrotor attitude and position states. The stability of the proposed method has been analytically proven and computer simulations have been performed to evaluate the results of the control system.