Sliding mode control of fixed-wing UAVs in windy environments

Jaime Rubio Hervas; Erdal Kayacan; Mahmut Reyhanoglu; Hui Tang

doi:10.1109/ICARCV.2014.7064440

Sliding mode control of fixed-wing UAVs in windy environments

Jaime Rubio Hervas, Erdal Kayacan, Mahmut Reyhanoglu, Hui Tang

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

7 Citations (Scopus)

Abstract

In this paper, a fully nonlinear aircraft dynamic model in the presence of wind is introduced. Assuming the wind vortex hypothesis, the equations of motion are formulated in a novel nonlinear control system form that is affine in control input for the chosen aircraft model. A sliding mode controller is subsequently developed where the position of the throttle is used to control the air velocity and the aileron, elevator, and rudder deflections are employed to control the rest of the dynamics. It is shown that the full state converges to the desired values even in the presence of the uncertainties imposed by the wind. The applicability of the controller design is illustrated through simulations in the presence of uncertainties.

Original language	English
Title of host publication	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Publisher	IEEE
Pages	986-991
Number of pages	6
ISBN (Electronic)	9781479951994
DOIs	https://doi.org/10.1109/ICARCV.2014.7064440
Publication status	Published - 1 Jan 2014
Externally published	Yes
Event	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore Duration: 10 Dec 2014 → 12 Dec 2014

Conference

Conference	2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Country/Territory	Singapore
City	Singapore
Period	10/12/14 → 12/12/14

Keywords

nonlinear control
sliding mode
UAV

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Human-Computer Interaction
Artificial Intelligence
Control and Systems Engineering

More information

10.1109/ICARCV.2014.7064440

Cite this

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title = "Sliding mode control of fixed-wing UAVs in windy environments",

abstract = "In this paper, a fully nonlinear aircraft dynamic model in the presence of wind is introduced. Assuming the wind vortex hypothesis, the equations of motion are formulated in a novel nonlinear control system form that is affine in control input for the chosen aircraft model. A sliding mode controller is subsequently developed where the position of the throttle is used to control the air velocity and the aileron, elevator, and rudder deflections are employed to control the rest of the dynamics. It is shown that the full state converges to the desired values even in the presence of the uncertainties imposed by the wind. The applicability of the controller design is illustrated through simulations in the presence of uncertainties.",

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Hervas, JR, Kayacan, E, Reyhanoglu, M & Tang, H 2014, Sliding mode control of fixed-wing UAVs in windy environments. in 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014., 7064440, IEEE, pp. 986-991, 2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014, Singapore, Singapore, 10/12/14. https://doi.org/10.1109/ICARCV.2014.7064440

Sliding mode control of fixed-wing UAVs in windy environments. / Hervas, Jaime Rubio; Kayacan, Erdal; Reyhanoglu, Mahmut; Tang, Hui.

2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014. IEEE, 2014. p. 986-991 7064440.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Y1 - 2014/1/1

N2 - In this paper, a fully nonlinear aircraft dynamic model in the presence of wind is introduced. Assuming the wind vortex hypothesis, the equations of motion are formulated in a novel nonlinear control system form that is affine in control input for the chosen aircraft model. A sliding mode controller is subsequently developed where the position of the throttle is used to control the air velocity and the aileron, elevator, and rudder deflections are employed to control the rest of the dynamics. It is shown that the full state converges to the desired values even in the presence of the uncertainties imposed by the wind. The applicability of the controller design is illustrated through simulations in the presence of uncertainties.

AB - In this paper, a fully nonlinear aircraft dynamic model in the presence of wind is introduced. Assuming the wind vortex hypothesis, the equations of motion are formulated in a novel nonlinear control system form that is affine in control input for the chosen aircraft model. A sliding mode controller is subsequently developed where the position of the throttle is used to control the air velocity and the aileron, elevator, and rudder deflections are employed to control the rest of the dynamics. It is shown that the full state converges to the desired values even in the presence of the uncertainties imposed by the wind. The applicability of the controller design is illustrated through simulations in the presence of uncertainties.

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KW - sliding mode

KW - UAV

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ER -

Sliding mode control of fixed-wing UAVs in windy environments

Abstract

Conference

Keywords

ASJC Scopus subject areas

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