Abstract
To overcome the complexity of the coupled nonlinear model of a fixed-wing UAV system and the uncertainty caused by a large number of interference factors, a control algorithm combining fuzzy adaptive control and sliding mode variable structure control was proposed. The controller algorithm mainly relies on the sliding mode variable structure control method to solve the control problem of the strongly coupled complex nonlinear system. Based on sliding mode control, a fuzzy adaptive method is introduced to reduce the chattering problem of the traditional sliding mode control, and the uncertain parameters and unknown functions caused by external disturbances are approximated by this method. In this study, two types of fuzzy adaptive sliding mode controller were designed according to the different object ranges of the fuzzy adaptive algorithm. In addition, the stability of the controllers was verified using the Lyapunov method. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed controllers by comparing with the traditional sliding mode controller.
Highlights
Unmanned aerial vehicles (UAVs) have been widely utilized in military and civil applications. e mainstream unmanned aerial vehicles (UAVs) types are four-rotor, six-rotor, crossdouble-rotor, helicopter, and fixed-wing UAV. ey are applied to different fields based on their characteristics
Fixed-wing UAVs are always used to complete tasks requiring high speed and altitude according to their characteristics: fast flying speed, high flying altitude, and flexible attitude [1]. e biggest problem with fixed-wing UAV control is related to its complex model. is is mainly because this type of UAV model is multiple-state variables deeply coupled, nonlinear, and multiple interference factors
A large number of studies have been conducted on the model establishment of fixed-wing UAVs, but they can only provide models closed to the real situation [2,3,4]
Summary
Unmanned aerial vehicles (UAVs) have been widely utilized in military and civil applications. e mainstream UAV types are four-rotor, six-rotor, crossdouble-rotor, helicopter, and fixed-wing UAV. ey are applied to different fields based on their characteristics. Open-loop experiments verified that the backstepping high-order sliding mode controller could eliminate the shaking phenomenon effectively and completely Poksawat and his team proposed an automatic tuning control method for the attitude system of a fixed-wing UAV in 2016 [18]. E experimental results showed that the proposed control algorithm can suppress the shaking Castañeda and his partners (2017) claimed that an extended observer based on the adaptive second-order sliding mode control method they designed could help to control the attitude of a fixed-wing UAV smoothly [20]. It is the reason of the introduction of an adaptive law This method is introduced to approximate the model of fixed-wing UAV basic on sliding mode control.
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