Backstepping - Sliding Mode Controllers Applied to a Fixed-Wing UAV

Authors:
T. Espinoza;A. E. Dzul;R. Lozano;P. Parada
Affiliations:
División de Estudios de Posgrado e Investigación, Instituto Tecnológico de la Laguna, Coahuila, México 27000;División de Estudios de Posgrado e Investigación, Instituto Tecnológico de la Laguna, Coahuila, México 27000;Heudiasyc Laboratory, Université de Technologie de Compiègne, Compiègne, France UMR 7253;División de Estudios de Posgrado e Investigación, Instituto Tecnológico de la Laguna, Coahuila, México 27000
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

Citing 3
Cited 0

Robust exact differentiation via sliding mode technique

Automatica (Journal of IFAC)
Variable Structure Systems, Sliding Mode and Nonlinear Control

Variable Structure Systems, Sliding Mode and Nonlinear Control
Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy

Advances in Unmanned Aerial Vehicles: State of the Art and the Road to Autonomy

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper deals with the design of five controllers, based on Backstepping and Sliding Modes, which are applied to a fixed-wing unmanned aerial vehicle (UAV). We are interested to realize a comparative analysis of such methodologies in order to know what controller has a better performance when they are used to the autonomous flight (altitude, yaw and roll) of a fixed-wing UAV. The designed controllers are: Backstepping, Sliding Mode control (SMC), Backstepping with Sliding Mode control, Backstepping with two Sliding Mode control, and Backstepping with high order Sliding Mode (HOSM) control. Simulation results are obtained in order to analyze the controllers performance. We finally present an experimental result, in open-loop, with the purpose of validate the magnitude of the control signals obtained in the simulations.