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 proceedingConference article published in proceeding or bookAcademic researchpeer-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 languageEnglish
Title of host publication2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
PublisherIEEE
Pages986-991
Number of pages6
ISBN (Electronic)9781479951994
DOIs
Publication statusPublished - 1 Jan 2014
Externally publishedYes
Event2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014 - Singapore, Singapore
Duration: 10 Dec 201412 Dec 2014

Conference

Conference2014 13th International Conference on Control Automation Robotics and Vision, ICARCV 2014
Country/TerritorySingapore
CitySingapore
Period10/12/1412/12/14

Keywords

  • nonlinear control
  • sliding mode
  • UAV

ASJC Scopus subject areas

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

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