Browsing by Author "Enanwo Wondem"

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    Fractional Order Sliding Mode Controller Design for Fixed-wing Unmanned Aerial Vehicles Trajectory Tracking
    (Addis Ababa University, 2024-01) Enanwo Wondem; Lebsework Negash (PhD)
    This thesis focuses on the tracking of trajectories for fixed-wing unmanned aerial vehicles. (FWUAVs) using Fractional Order Sliding Mode Controller (FOSMC) . FWUAVs are widely utilized in both military and civilian sectors due to their ability to perform risky or inaccessible operations. However, controlling FWUAVs is challenging due to their nonlinear and coupled nature. The mathematical model of FWUAVs is complex, incorporating physical laws, Newton and Euler formulations, and coordinate systems with transformation matrices. To solve this complexity, a FOSMC ,which combines the robustness of conventional Sliding Mode Controller (SMC) with flexible fractional calculus, is applied. Particle Swarm Optimization (PSO) is used for tuning the control gains of FOSMC. The Integral Time Absolute Error (ITAE) is employed as a performance metric, aiming to minimize both settling time and overshoot. External disturbances and parameter variation is added to evaluate the performance of the controller. Comparison is done between Linear Quadratic Regulator (LQR), Fractional Order PID (FOPID), SMC and FOSMC for pitch angle using step input. FOSMC performs better than LQR, FOPID and SMC in terms of tracking accuracy, speed of response and overshoot. Open loop model verification and overall control system of FWUAV is done by MATLAB/Simulink software.