Robust nonlinear control design for scaled Yak-54 Unmanned Aerial Vehicle

Abstract

In this work, the authors consider the applications of sliding mode controllers to the longitudinal flight dynamics of the benchmark system of scaled Yak-54 Unmanned Aerial Vehicle for executing maneuvers over full flight envelope. Control of unmanned aerial vehicle involves the problem of incomplete measurements, modeling uncertainties and external disturbances. Sliding mode control provides good precision and robustness to the aforementioned factors. First order sliding mode controller are designed but they provide chattering at the control input thus a non linear second order super twisting controller is used to provide chattering free control with improved performance for the robust stabilization of pitch angle and control of its altitude. The simulation results indicate good tracking and regulation control of the vehicle.