Paolo Stegagno's website
References
[1] S. Rajappa, C. Masone, H. H. Bülthoff and P. Stegagno, Adaptive Super Twisting Controller for a Quadrotor UAV, 2016 IEEE Int. Conf. on Robotics and Automation, Stockholm, Sweden, May 2016. (download)​
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[2] Y. Liu, J. M. Montenbruck, P. Stegagno, F. Allgöwer and A. Zell, A Robust Nonlinear Controller for Nontrivial Quadrotor Maneuvers: Approach and Verification, 2015 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Hamburg, Germany, Sept. 2015.
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Quadrotor Control
The Super Twisting Controller (STC) is a robust controller capable of dealing with external disturbance as wind in outdoor flight. However, its performance are degrades by chattering around the equilibrium. We can solve this problem with a gain adaptation law which does not require the knowledge of the upper bound of the lumped disturbance.