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

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...

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Bibliographic Details
Published inInternational journal of aeronautical and space sciences Vol. 13; no. 1; pp. 90 - 98
Main Authors Hong, You-Kyung, Kim, You-Dan
Format Journal Article
LanguageKorean
Published 2012
Subjects
Rotary unmanned aerial vehicle
Slack variable
Integrated guidance and control
Sliding mode control
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Summary: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.
Bibliography:KISTI1.1003/JNL.JAKO201213549741881
ISSN:2093-274X
2093-2480