Espinoza Fraire, Arturo Tadeo (Universidad Juárez del Estado de Durango), Chen, YangQuan (University of California, Merced), Dzul, Alejandro (TECNM/Instituto Tecnológico de la Laguna), Lozano, Rogelio (University of Technology of Compiègne)

Fixed-Wing MAV Adaptive PD Control Based on a Modified MIT Rule with Sliding-Mode Control

Scheduled for presentation during the "UAS Control - II" (FrB5), Friday, June 16, 2017, 15:05−15:25, San Marco Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on April 26, 2024

Abstract

This paper presents an adaptive PD control law by using a modified MIT rule. The adjustment mechanism of the MIT rule has been implemented with three types of sliding-mode control, i.e., classical sliding-mode control, second order sliding-mode (2-SM), and high order sliding-mode control (HOSM). The proposed controllers have been designed for the directional and lateral dynamics of a fixed-wing mini aerial autonomous vehicle (MAV). Several simulations have been carried out in order to analyze the modified MIT rule.