CEAS EuroGNC 2026
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Super-Twisting Sliding Mode Control for Swing Reduction in UAV-Payload Systems
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| Sara Gomiero |
PhD student, Libera Università di Bolzano, Bolzano, Italy. Politecnico di Bari, Bari, Italy. | | Spilios Theodoulis |
Associate Professor, Delft University of Technology, Delft, The Netherlands. | | Karl von Ellenrieder |
Full Professor, Libera Università di Bolzano, Bolzano, Italy. |
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| Abstract:
This paper proposes Super-Twisting sliding mode controllers (STSMCs) to solve the trajectory tracking problem of a cargo Uncrewed Aerial Vehicle (UAV), while actively reducing the oscillations of the cable-suspended payload hanging from the quadrotor. In order to damp the oscillatory behavior of the cargo, we propose sliding surfaces which include the dynamics of the load swing angles. The proof of stability is carried out through Lyapunov analysis, resulting in finite-time convergence of the sliding surfaces and their derivatives, and asymptotic convergence of the tracking errors. Simulations in Matlab and Simulink are presented to show the effectiveness of the designed STSMCs, considering a small-scale cargo drone which performs a circular and a helical trajectory. Under the proposed controllers, the UAV is able to track the references, while the load swing angles do not exceed the magnitude of 2.5 degrees. Our approach allows to reduce load oscillations by more than 50% when compared to STSMCs without active swing reduction.
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| Keywords: Uncrewed Aerial Vehicles; Suspended Payload; Sliding Mode Control; Swing Reduction |
 View PDF CEAS-GNC-2026-107 doi: 10.82124/CEAS-GNC-2026-107 |
| Sara Gomiero, Spilios Theodoulis, Karl von Ellenrieder: Super-Twisting Sliding Mode Control for Swing Reduction in UAV-Payload Systems. Proceedings of the 2026 CEAS EuroGNC conference. Madrid, Spain. May 2026. doi: 10.82124/CEAS-GNC-2026-107.
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| BibTeX entry (UTF-8):
@Incollection{CEAS-GNC-2026-107,
author = {Gomiero, Sara and Theodoulis, Spilios and von Ellenrieder, Karl},
title = {Super-Twisting Sliding Mode Control for Swing Reduction in UAV-Payload Systems},
booktitle = {Proceedings of the 2026 {CEAS EuroGNC} conference},
address = {Madrid, Spain},
month = may,
year = {2026},
doi = {10.82124/CEAS-GNC-2026-107}
}
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