Design of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method

In this paper, an advanced control method is proposed for a fixed-wing unmanned aerial vehicle (UAV) to maintain the stabilization of its altitude, attitude, and velocity. The mathematical model of a fixed-wing UAV is very complicated because of its characteristics of nonlinearity and large extent o...

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Autores principales:	Changchun Bao, Yufei Guo, Leru Luo, Guanqun Su
Formato:	article
Lenguaje:	EN
Publicado:	IEEE 2021
Materias:	Fixed-wing UAVs adaptive law backstepping sliding control uncertainty disturbance buffeting phenomenon Electrical engineering. Electronics. Nuclear engineering TK1-9971
Acceso en línea:	https://doaj.org/article/ca5a35f44d1d466e8b527ce8f57535ed
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spelling	oai:doaj.org-article:ca5a35f44d1d466e8b527ce8f57535ed2021-12-03T00:00:59ZDesign of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method2169-353610.1109/ACCESS.2021.3130296https://doaj.org/article/ca5a35f44d1d466e8b527ce8f57535ed2021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9625973/https://doaj.org/toc/2169-3536In this paper, an advanced control method is proposed for a fixed-wing unmanned aerial vehicle (UAV) to maintain the stabilization of its altitude, attitude, and velocity. The mathematical model of a fixed-wing UAV is very complicated because of its characteristics of nonlinearity and large extent of multi-variable coupling. Thus, to design the relevant controller is also difficult. In addition, during the operation of a fixed-wing UAV, the concomitant various uncertainties and disturbances will make the control process harder to accomplish. To solve these problems, this study designs a variable-structure controller with multiple algorithm fusion. The design mainly adopts the backstepping sliding mode control method to simplify the complex nonlinear mathematical model, and an adaptive law is introduced to estimate the uncertainty and disturbance of the system. Subsequently, the tracking error of the controller is proved to converge to zero using Lyapunov’s second method. Finally, it is verified that the controller has the ability to stably control a fixed-wing UAV by numerical simulation and can overcome the disturbance and uncertainty. The buffeting also can be eliminated by the adaptive law.Changchun BaoYufei GuoLeru LuoGuanqun SuIEEEarticleFixed-wing UAVsadaptive lawbackstepping sliding controluncertaintydisturbancebuffeting phenomenonElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 157825-157841 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Fixed-wing UAVs adaptive law backstepping sliding control uncertainty disturbance buffeting phenomenon Electrical engineering. Electronics. Nuclear engineering TK1-9971
spellingShingle	Fixed-wing UAVs adaptive law backstepping sliding control uncertainty disturbance buffeting phenomenon Electrical engineering. Electronics. Nuclear engineering TK1-9971 Changchun Bao Yufei Guo Leru Luo Guanqun Su Design of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method
description	In this paper, an advanced control method is proposed for a fixed-wing unmanned aerial vehicle (UAV) to maintain the stabilization of its altitude, attitude, and velocity. The mathematical model of a fixed-wing UAV is very complicated because of its characteristics of nonlinearity and large extent of multi-variable coupling. Thus, to design the relevant controller is also difficult. In addition, during the operation of a fixed-wing UAV, the concomitant various uncertainties and disturbances will make the control process harder to accomplish. To solve these problems, this study designs a variable-structure controller with multiple algorithm fusion. The design mainly adopts the backstepping sliding mode control method to simplify the complex nonlinear mathematical model, and an adaptive law is introduced to estimate the uncertainty and disturbance of the system. Subsequently, the tracking error of the controller is proved to converge to zero using Lyapunov’s second method. Finally, it is verified that the controller has the ability to stably control a fixed-wing UAV by numerical simulation and can overcome the disturbance and uncertainty. The buffeting also can be eliminated by the adaptive law.
format	article
author	Changchun Bao Yufei Guo Leru Luo Guanqun Su
author_facet	Changchun Bao Yufei Guo Leru Luo Guanqun Su
author_sort	Changchun Bao
title	Design of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method
title_short	Design of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method
title_full	Design of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method
title_fullStr	Design of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method
title_full_unstemmed	Design of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method
title_sort	design of a fixed-wing uav controller based on adaptive backstepping sliding mode control method
publisher	IEEE
publishDate	2021
url	https://doaj.org/article/ca5a35f44d1d466e8b527ce8f57535ed
work_keys_str_mv	AT changchunbao designofafixedwinguavcontrollerbasedonadaptivebacksteppingslidingmodecontrolmethod AT yufeiguo designofafixedwinguavcontrollerbasedonadaptivebacksteppingslidingmodecontrolmethod AT leruluo designofafixedwinguavcontrollerbasedonadaptivebacksteppingslidingmodecontrolmethod AT guanqunsu designofafixedwinguavcontrollerbasedonadaptivebacksteppingslidingmodecontrolmethod
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Design of a Fixed-Wing UAV Controller Based on Adaptive Backstepping Sliding Mode Control Method

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