A singularity‐free online neural network‐based sliding mode control of the fixed‐wing unmanned aerial vehicle optimal perching maneuver

Abstract

AbstractThe perching behavior of birds is very common in nature, but it is extraordinary for fixed‐wing unmanned aerial vehicles (UAVs), because of post‐stall maneuver. The main problems of the perching maneuver are weak control authority and strong model nonlinearity. This paper proposed a control method to realize the fixed‐wing perch maneuver. For the problem of weak control authority, an optimal trajectory is designed. And a feasible reference trajectory is given under the conditions of model dynamic characteristics and actuator constraints. For the problem of strong nonlinearity, a singularity‐free online neural network‐based sliding mode controller is designed. The simulation test shows that the proposed controller can ensure a reliable perching maneuver under the initial state deviation.