Sliding mode control design based on fuzzy reaching law for yaw angle of a Tail-sitter UAV

This study proposes a new sliding mode control strategy based on a fuzzy reaching law to enhance the yaw angle control of a Tail-sitter UAV. First of all, the simplified yaw angle dynamic model is analyzed, then the fuzzy reaching law is designed considering both the chattering reduction and position tracking; finally, the sliding mode control law is designed for the Tail-sitter UAV's yaw angle system with disturbance and its control behavior is investigated. The simulation results show that the control law is not sensitive to the disturbance, which can not only control the chattering effectively but also achieve a fast tracking.