2-D path following for fixed wing UAV using global fast terminal sliding mode control

Abstract

This paper considers the finite time convergence problem of 2-D path following for fixed wing unmanned air vehicle. Firstly, the UAV path following model is divided into an outer guidance loop and an inner control loop. Then, the guidance loop and control loop controllers of the UAV are derived by global fast terminal sliding mode control technique, which is able to guarantee the system state variables converge to expected values in finite time and eliminate the chattering phenomenon caused by the switching control action. Furthermore, the stability of the two-loops system is proven by Lyapunov stability theory. Finally, the simulation results are shown to verify the performance of the proposed method.