Angular Rate Constrained Sliding Mode Control of UAVs for Path Following

In this work, a sliding-mode-based attitude controller constrained with the angular rate for unmanned aerial vehicles (UAVs) is addressed to withstand conditions below the allowable maximum angular velocity of UAVs in order to avoid the possibility of structural failure and to operate UAVs safely. T...

Descripción completa

Guardado en:

Detalles Bibliográficos
Autores principales:	Seok-ho Jang, Youyoung Yang, Henzeh Leeghim
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	nonlinear control sliding mode control fixed-wing UAV (unmanned aerial vehicle) angular rate constraints Electronics TK7800-8360
Acceso en línea:	https://doaj.org/article/6f0d44b400094a88af6c715ce6a567e2
Etiquetas:	Agregar Etiqueta Sin Etiquetas, Sea el primero en etiquetar este registro!

id	oai:doaj.org-article:6f0d44b400094a88af6c715ce6a567e2
record_format	dspace
spelling	oai:doaj.org-article:6f0d44b400094a88af6c715ce6a567e22021-11-25T17:24:33ZAngular Rate Constrained Sliding Mode Control of UAVs for Path Following10.3390/electronics102227762079-9292https://doaj.org/article/6f0d44b400094a88af6c715ce6a567e22021-11-01T00:00:00Zhttps://www.mdpi.com/2079-9292/10/22/2776https://doaj.org/toc/2079-9292In this work, a sliding-mode-based attitude controller constrained with the angular rate for unmanned aerial vehicles (UAVs) is addressed to withstand conditions below the allowable maximum angular velocity of UAVs in order to avoid the possibility of structural failure and to operate UAVs safely. The sliding mode controller suggested in this work defines a new sliding surface, inherently having two equilibrium points. These equilibrium points are carefully inspected, and the stability of the system controlled by means of the proposed approach is also analyzed using Lyapunov stability theory. To highlight the angular-rate constrained attitude control technique, a three-dimensional path is constructed using the Dubins path technique, and three-axis attitude commands for UAV are also generated by augmenting the line-of-sight algorithm. Compared with conventional sliding mode control measures, the excellent performance of the suggested control algorithm has been demonstrated by conducting numerical simulations.Seok-ho JangYouyoung YangHenzeh LeeghimMDPI AGarticlenonlinear controlsliding mode controlfixed-wing UAV (unmanned aerial vehicle)angular rate constraintsElectronicsTK7800-8360ENElectronics, Vol 10, Iss 2776, p 2776 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	nonlinear control sliding mode control fixed-wing UAV (unmanned aerial vehicle) angular rate constraints Electronics TK7800-8360
spellingShingle	nonlinear control sliding mode control fixed-wing UAV (unmanned aerial vehicle) angular rate constraints Electronics TK7800-8360 Seok-ho Jang Youyoung Yang Henzeh Leeghim Angular Rate Constrained Sliding Mode Control of UAVs for Path Following
description	In this work, a sliding-mode-based attitude controller constrained with the angular rate for unmanned aerial vehicles (UAVs) is addressed to withstand conditions below the allowable maximum angular velocity of UAVs in order to avoid the possibility of structural failure and to operate UAVs safely. The sliding mode controller suggested in this work defines a new sliding surface, inherently having two equilibrium points. These equilibrium points are carefully inspected, and the stability of the system controlled by means of the proposed approach is also analyzed using Lyapunov stability theory. To highlight the angular-rate constrained attitude control technique, a three-dimensional path is constructed using the Dubins path technique, and three-axis attitude commands for UAV are also generated by augmenting the line-of-sight algorithm. Compared with conventional sliding mode control measures, the excellent performance of the suggested control algorithm has been demonstrated by conducting numerical simulations.
format	article
author	Seok-ho Jang Youyoung Yang Henzeh Leeghim
author_facet	Seok-ho Jang Youyoung Yang Henzeh Leeghim
author_sort	Seok-ho Jang
title	Angular Rate Constrained Sliding Mode Control of UAVs for Path Following
title_short	Angular Rate Constrained Sliding Mode Control of UAVs for Path Following
title_full	Angular Rate Constrained Sliding Mode Control of UAVs for Path Following
title_fullStr	Angular Rate Constrained Sliding Mode Control of UAVs for Path Following
title_full_unstemmed	Angular Rate Constrained Sliding Mode Control of UAVs for Path Following
title_sort	angular rate constrained sliding mode control of uavs for path following
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/6f0d44b400094a88af6c715ce6a567e2
work_keys_str_mv	AT seokhojang angularrateconstrainedslidingmodecontrolofuavsforpathfollowing AT youyoungyang angularrateconstrainedslidingmodecontrolofuavsforpathfollowing AT henzehleeghim angularrateconstrainedslidingmodecontrolofuavsforpathfollowing
_version_	1718412413231955968

Angular Rate Constrained Sliding Mode Control of UAVs for Path Following

Ejemplares similares