MRAS Using Lyapunov Theory with Sliding Modes for a Fixed-Wing MAV

Abstract

This work applies an adaptive PD controller based on MRAS (Model Reference Adaptive System) using Lyapunov theory with sliding mode theory to a Fixed-wing MAV (Mini Aerial Vehicle). The objective is to design different adjustment mechanisms to obtain a robust adaptive control law in the presence of unknown perturbation due to wind gusts. Four adjustment mechanisms applied to an adaptive PD controller are compared. The adjustment mechanisms are Lyapunov theory, Lyapunov theory with first-order sliding mode, Lyapunov theory with second-order sliding mode, and Lyapunov theory with high-order sliding mode. Finally, after several simulations, a significant reduction and almost elimination of the unknown perturbations are presented with the addition of the sliding mode theory in the design of the adjustment mechanism for the adaptive PD controller.