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Path Tracking of a Fixed-Wing Autonomous Aerial Vehicle by High Order Sliding Mode Control

[+] Author Affiliations
Herman Castañeda Cuevas, Jesús de León Morales

Autonomous University of Nuevo León, San Nicolás de los Garza, NLE, México

Ernesto Olguín-Díaz

Cinvestav-Unidad Saltillo, Ramos Arizpe, COA, México

Paper No. DETC2011-48975, pp. 1037-1046; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5480-8
  • Copyright © 2011 by ASME


In this paper, a robust control algorithm, based on sliding modes techniques, designed for trajectory tracking is applied to a fixed-wing small Autonomous Aerial Vehicle (AAV). Based on a mathematical modeling, parameters identification, and aerodynamics of both the AAV fuselage and its mobile surfaces a full dynamical model is obtained, where the control is proven. However, for control design, simplified versions of the motion models are studied resulting in simplified independent controller for the roll, pitch and yaw trajectories. Due to the nature of such controller, time derivative of control variables are needed but not available. Numerical differentiators also based on sliding modes are used in order to estimate those derivatives. Simulation results are given to illustrate the performance of the proposed tracking controller under parametric and unmodeled dynamics.

Copyright © 2011 by ASME



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