MRAC with SMC Applied to Lateral Control of a Fixed-Wing MAV

Abstract: This paper presents a PD control law with adaptive gains with the MIT (Massachusetts Institute Technology) rule with different sliding modes; that is, the MIT rule has been designed with is known in the literature with first order sliding mode, second order sliding mode and high order sliding mode (HOSM) to obtain a better gain scheduling taking advantage the sliding modes techniques-the PD control law with adaptive gains that is designed for the lateral dynamics of a fixed-wing MAV. To apply the methodology of the model reference adaptive control (MRAC), sometimes called model reference adaptive system (MRAS), to the adaptive gains of the PD control, a sliding manifold is proposed considering the output of the lateral dynamics and with the output of the reference model.