Finite-time sliding mode attitude control design for a coaxial tilt-rotor UAV

Abstract

In this article, a finite-time sliding mode controller (FTSMC) is designed with the aim of attitude tracking of the coaxial tilt-rotor UAV (CTRUAV) under external disturbance. The CTRUAV is a multi-input multi-output (MIMO) and highly coupled system, which leads to the complexity of the controller design. Based on the dynamic model of the CTRUAV, an FTSMC is designed to improve the tracking performance of attitude control and robustness under uncertain disturbance, the stability of FTSMC is proved based on Lyapunov theory, and the power distribution is adjusted to solve the control-allocation problem of the CTRUAV. At last, simulation results are provided to show the effectiveness of FTSMC.