Browsing by Author "Haileleul Biazn"

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    Twisting Sliding Mode Control Design with Particle Swarm Optimization for Fixed Wing UAV
    (Addis Ababa University, 2023-11) Haileleul Biazn; Lebsework Negash (PhD)
    Control of xed wing unmanned aerial vehicles (FW-UAVs) is challenging due to their highly coupled, complex, nonlinear, and uncertain mathematical model, and underactuated dynamics. To overcome this di culty a nonlinear robust twisting sliding mode control (SMC) was designed for inertial positions, attitudes and airspeed control to track the desired trajectories. Fuzzy based switching for inertial positions, and airspeed control was applied to overcome the trade-o between chattering and robustness. Where as, quasi-static saturation switching was used for attitude control. Particle swarm optimization (PSO) was used for optimizing the gain parameters of the designed controllers. Di erent set of trajectories; bow-tie, helical, and real data minimum snap polynomial paths were prepared for guiding the FW-UAV. The required real data way-points were taken manually using 'Google Earth Pro' as latitudes and longitudes in units of degree. These data points converted into coordinates in earth-centered-earth- xed frame, and then to the north-east down frame. Using these sample points minimum snap polynomial trajectories developed through minimizing snap as a quadratic programming. The overall mathematical model has been prepared in MATLAB Simulink for simulation. Finally, the performance of controllers was evaluated against disturbances, model uncertainty, parameter variation, and including actuator dynamics. Integral-time-absoluteerror (ITAE) has been used as performance index and in all trajectories the controllers were robust within 93% accuracy about the nominal value. The control was achieved within practically accepted ranges of control e ort. Nominal de ection angles of aileron (14◦), elevator (34◦), and rudder (22◦) were required, which are in the working ranges of practical control, unity rad. The thrust force generated by the propeller has an average value of 133 N, which is nearly equivalent to the weight of UAV, 132.5 N. The propeller engine acceleration had maximum values of 10 m/s (376 revolutions per minute) and 30 m/s (1128 revolutions per minute) in helical and level ights respectively.