DOI QR코드

DOI QR Code

Integrated Design of Rotary UAV Guidance and Control Systems Utilizing Sliding Mode Control Technique

  • Received : 2012.01.12
  • Accepted : 2012.03.13
  • Published : 2012.03.30

Abstract

In this paper, the Integrated Guidance and Control (IGC) law is proposed for the Rotary Unmanned Aerial Vehicle (RUAV). The objective of the IGC law is to consider the nonlinear dynamic characteristics of the RUAV and to design a guidance law which takes into consideration the nonlinear relationship between kinematics and dynamics. In order to control the RUAV system, sliding mode control scheme is adopted. As the RUAV is an under-actuated system, a slack variable approach is used to generate the available control inputs. Through the Lyapunov stability theorem, the stability of the proposed IGC law is proved. In order to verify the performance of the IGC law, numerical simulations are performed for waypoint tracking missions.

Keywords

Rotary unmanned aerial vehicle;Integrated guidance and control;Sliding mode control;Slack variable

References

  1. Shim, H., Hierarchical Flight Control System Synthesis for Rotorcraft-based Unmanned Aerial Vehicles, Ph. D. Dissertation, Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA, 2000.
  2. Kim, Y., Lee, S., and Kim, B., "A Study on Helicopter Trajectory Tracking Control using Neural Networks", International Journal of Aeronautical and Space Sciences, Vol. 31, No. 3, 2003, pp. 50-57.
  3. Shima, T., Idan M., and Golan, O. M., "Sliding-Mode Control for Integrated Missile Autopilot Guidance", Journal of Guidance, Control, and Dynamics, Vol. 29, No. 2, 2006, pp. 250-260. https://doi.org/10.2514/1.14951
  4. Menon, P. K., and Ohlmeyer, E. J., "Integrated Design of Agile Missile Guidance and Control Systems", 7th Mediterranean Conference on Control and Automation, Haifa, Israel, June 1999.
  5. Menon, P. K., and Ohlmeyer, E. J., "Integrated Design of Agile Missile Guidance and Autopilot Systems", Control Engineering Practice, Vol. 9, No. 10, 2001, pp. 1095-1106. https://doi.org/10.1016/S0967-0661(01)00082-X
  6. Menon, P. K., "Optimal Fixed-interval Integrated Guidance-control Laws for Hit-to-kill Missiles", AIAA Guidance, Navigation, and Control Conference, Austin, TX, Aug. 2003.
  7. Gavrilets, V., Mettler, B., and Feron, E., "Dynamical Model for a Miniature Aerobatic Helicopter", MIT-LIDS Report No. LIDS-P-2580, Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, 2003.
  8. Prasad, J. V. R., Calise, A., Pei, Y., and Corban J., "Adaptive Nonlinear Controller Synthesis and Flight Test Evaluation on an Unmanned Helicopter", IEEE Conference on Control Applications, Kohala Coast, HI, Aug. 1999.
  9. Prasad, J. V. R., and Lipp, A. M., "Synthesis of a Helicopter Nonlinear Flight Controller Using Approximate Model Inversion", Mathematical and Computer Modelling, Vol. 18, No. 3-4, 1993, pp. 89-100.
  10. Farrell, J., Sharma, M., and Polycarpou, M., "Backstepping-Based Flight Control with Adaptive Function Approximation", Journal of Guidance, Control, and Dynamics, Vol. 28, No. 6, 2005, pp. 1089-1102. https://doi.org/10.2514/1.13030
  11. Lee, D., Kim, H., and Sastry, S., "Feedback Linearization vs. Adaptive Sliding Mode Control for a Quadrotor Helicopter", International Journal of Control, Automation, and Systems, Vol. 7, No. 3, 2009, pp. 419-428. https://doi.org/10.1007/s12555-009-0311-8
  12. Stevens, B. L., and Lewis, F. L., Aircraft Control and Simulation, Second Edition, McGraw Hill, Boston, MA, 1998, pp. 419-434.

Cited by

  1. Slack Variables Generation via QR Decomposition for Adaptive Nonlinear Control of Affine Underactuated Systems vol.49, pp.17, 2016, https://doi.org/10.1016/j.ifacol.2016.09.033

Acknowledgement

Supported by : National Research Foundation of Korea (NRF)