Abstract
ABSTRACTPath tracking of Unmanned Aerial Vehicles (UAVs) with three degrees of freedom is studied in this paper with approach of dynamic sliding mode control. For this purpose, the equations of UAV are written. The difficulty and complexity of these equations is that they are non-affine with respect to control inputs. Moreover, they are not directly in the inertial coordinate system while the desired flight path is given in the inertial coordinate system. These two major problems add complexity to the design procedure. Therefore, it is necessary that equations be rewritten in the inertial coordinate system. By definition of virtual inputs; the equations convert to affine structure with respect to virtual inputs and the transformation between the real and virtual inputs has been obtained. After that, the Input/output (I-O) equations of the system are written and converted into controller canonical form. The dynamic sliding mode control law is then designed based on (I-O) equations. Optimal coefficients are also achieved numerically by considering an appropriate cost function. Finally, computer simulation is utilized to illustrate the performance of the designed controller.
Highlights
Unmanned Aerial Vehicles (UAVs) is one of the most important nonlinear systems which has applications in civilian programmes such as rescue operation and extinguish fires
Path tracking of Unmanned Aerial Vehicles (UAVs) with three degrees of freedom is studied in this paper with approach of dynamic sliding mode control
The difficulty and complexity of these equations is that they are non-affine with respect to control inputs. They are not directly in the inertial coordinate system while the desired flight path is given in the inertial coordinate system
Summary
UAV is one of the most important nonlinear systems which has applications in civilian programmes such as rescue operation and extinguish fires. ; designing the autopilot for path tracking, based on dynamic sliding mode technique for UAV with three degrees of freedom is not possible because of the two main problems. The main contributions of this paper are: new autopilot design for putting UAV on the predetermined desired flight path based on dynamic sliding mode method and tuning the coefficients with the optimality approach. For this purpose, after rewriting the dynamical equations in the inertial coordinate system, the virtual input vector is defined such that the state space equations have affine structure with respect to virtual inputs. Computer simulations are performed to show the performance of the designed control law
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