Over the past couple of years, the application of unmanned aerial vehicles (UAV) has increased. Aircraft such as this are used for numerous applications such as military and agriculture. Because of its highly non-linear and coupled nature, the control problem seems to be a challenge. As a contribution to this area, this thesis presents the modeling and control of a fixed-wing unmanned aircraft. The flight dynamics of this system is obtained by using newton’s second law of motion. Then after, a higher-order sliding mode controller (HOSMC) and a non-linear PID (NPID) controller is designed for this system. To check the robustness of the controllers, an external disturbance is added while simulating the system on MATLAB Simulink software. Furthermore, the performance of the controllers is compared with five performance indexes such as mean square error (MSE), Integral time square error (ITSE), integral absolute error (IAE), integral time absolute error (ITAE), and integral square error (ISE). These indexes are used to give a quantitative measure of the performance of the two controllers. The results show that NPID is greater than super-twisting SMC by a value of 0.0034 value of ISE and 0.23 value of IAE in attitude control. Whereas, super-twisting SMC is greater than NPID by a value of 0.779 in ISE and 0.8291 value of IAE in airspeed control. The robustness of the controllers is checked by H2 and H∞ norms; the result showed that the super-twisting sliding mode controller is more robust by a 0.7 value of H2 norm and 0.96 value of H∞ norm than non-linear PID
A Super- Twisting Sliding Mode & Nonlinear Pip Based Control of A Fixed - Wing Unmanned Aerial Vehicle
2022-03-04
doi:10.20372/nadre/19636
Theses
Electronic Resource
English
DDC: | 629 |
SAGE Publications | 2014
|