Author:
Jang Seok-ho,Yang Youyoung,Leeghim Henzeh
Abstract
In this work, a sliding-mode-based attitude controller constrained with the angular rate for unmanned aerial vehicles (UAVs) is addressed to withstand conditions below the allowable maximum angular velocity of UAVs in order to avoid the possibility of structural failure and to operate UAVs safely. The sliding mode controller suggested in this work defines a new sliding surface, inherently having two equilibrium points. These equilibrium points are carefully inspected, and the stability of the system controlled by means of the proposed approach is also analyzed using Lyapunov stability theory. To highlight the angular-rate constrained attitude control technique, a three-dimensional path is constructed using the Dubins path technique, and three-axis attitude commands for UAV are also generated by augmenting the line-of-sight algorithm. Compared with conventional sliding mode control measures, the excellent performance of the suggested control algorithm has been demonstrated by conducting numerical simulations.
Subject
Electrical and Electronic Engineering,Computer Networks and Communications,Hardware and Architecture,Signal Processing,Control and Systems Engineering
Cited by
2 articles.
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2. Sliding Mode Control for the hovering flight of a Tilt tri-rotor UAV;2022 11th International Conference on Control, Automation and Information Sciences (ICCAIS);2022-11-21