Sliding Mode Control for the hovering flight of a Tilt tri-rotor UAV

Abstract

The hover, transition, and fixed-wing modes are the three flight configurations available for the tilt tri-rotor unmanned aerial vehicle (UAV). . PID and SMC controllers were commonly used to build flight controllers to help realize stable flight for this UAV. The PID control method has the ability to adjust the error as low as possible, increase the response speed, reduce the overshoot, and limit the oscillation. The outstanding advantage of the sliding controller is its stability and stability even when the system has noise or when the object's parameters change over time. This paper will build flight control including attitude control, and position control for the Tilt tri-rotor model in hover mode based on PID control and SMC to evaluate their performance. First, the kinematic equations of Tilt tri-rotor UAV are built based on coordinate systems and Newton's laws. Secondly, two control diagrams and built two flight controllers based on PID and SMC control methods are investigated. Finally, the simulation results of these two methods are shown and discussed. The results show that the SMC controllers give better stability and better orbital tracking in both cases of noise and no noise.