Second Order Sliding Mode Control Using Homogeneity Approach to Control a Fixed-Wing UAV

Abstract

The purpose of this paper consists of developing a robust control law for a fixed wing Unmanned Aerial Vehicle (UAV). To reach such a goal, a homogeneous continuous super twisting algorithm is used to solve the problem of attitude control for an aircraft model known by its nonlinearity and its strong coupling. Being a class of high order sliding mode (HOSM) control, super twisting algorithm (STW) allows finite time output convergence and chattering minimization for systems having relative degree equal to one. Hence, the use of homogeneity that allows the implementation of HOSM to control systems that have relative degree greater than one. Simulation results are shown to demonstrate the robustness of the proposed controller.

Unmanned Aerial Vehicle Attitude Control Using L 1 Adaptive Controller

“…To solve the challenge of attitude stability and proper flight of fixed-wing UAVs, many types of controllers have been proposed in the literature [5]. The reported controllers include designs based on robust PID [6], PID with robust compensator [7], PID with gain scheduling [8], artificial neural networks (ANN), fuzzy logic (FL), prediction-based control [9]- [10], sliding mode [11]- [12], backstepping [13]- [14], [15], linear quadratic Gaussian, [16] and model reference adaptive control (MRAC), which have been thoroughly researched for the task of recovering nominal performance in the presence of uncertainties or actuator failures [17], even though they were particularly susceptible to time delays [18]. A version of indirect MRAC with a low-pass filter, named adaptive control (L AC), was introduced in [19] and [20] to solve these issues and provide a more efficient adaptive solution [15]- [16].…”