Backstepping - Sliding Mode Controllers Applied to a Fixed-Wing UAV

This paper deals with the design of five controllers, based on Backstepping and Sliding Modes, which are applied to a fixed-wing unmanned aerial vehicle (UAV). We are interested to realize a comparative analysis of such methodologies in order to know what controller has a better performance when the...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2014-01, Vol.73 (1-4), p.67-79
Main Authors: Espinoza, T., Dzul, A. E., Lozano, R., Parada, P.
Format: Article
Language:English
Subjects:
Artificial Intelligence
Automatic Control Engineering
Computer Science
Control
Controllers
Electrical Engineering
Engineering
Mechanical Engineering
Mechatronics
Robotics
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Summary:This paper deals with the design of five controllers, based on Backstepping and Sliding Modes, which are applied to a fixed-wing unmanned aerial vehicle (UAV). We are interested to realize a comparative analysis of such methodologies in order to know what controller has a better performance when they are used to the autonomous flight (altitude, yaw and roll) of a fixed-wing UAV. The designed controllers are: Backstepping, Sliding Mode control (SMC), Backstepping with Sliding Mode control, Backstepping with two Sliding Mode control, and Backstepping with high order Sliding Mode (HOSM) control. Simulation results are obtained in order to analyze the controllers performance. We finally present an experimental result, in open-loop, with the purpose of validate the magnitude of the control signals obtained in the simulations.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-013-9955-y