Open AccessAdaptive Sliding Mode Controller Design For Attitude Small UAV
Author(s) -
Samaneh Amini
Publication year - 2015
Publication title -
international journal of robotics and automation (ijra)/iaes international journal of robotics and automation
Language(s) - English
Resource type - Journals
eISSN - 2722-2586
pISSN - 2089-4856
DOI - 10.11591/ijra.v4i3.pp219-229
Subject(s) - control theory (sociology) , parametric statistics , nonlinear system , sliding mode control , controller (irrigation) , lyapunov function , mimo , pid controller , control engineering , adaptive control , mode (computer interface) , computer science , engineering , control (management) , mathematics , physics , artificial intelligence , temperature control , computer network , channel (broadcasting) , statistics , quantum mechanics , agronomy , biology , operating system
The dynamic of Unmanned Aerial Vehicle (UAV) is nonlinear, strongly coupled, multi-input multi-output (MIMO), and subject to uncertainties and external disturbances. In this paper, an adaptive sliding mode controller (ASMC) is integrated to design the attitude control system for an inner loop fixed wing UAV. In the proposed scheme, sliding mode control law parameters due to uncertainty are assumed to be unknown and are estimated via adaptation laws. The synthesis of the adaptation laws is based on the positivity and Lyapunov design principle. Navigation outer loop parameters are regulated via PID controllers. Simulation results indicate that the proposed controller design can stabilize the nonlinear system, and it is robust to parametric model uncertainties and external disturbance.