Fractional Order Sliding Mode Controller Design for Fixed-wing Unmanned Aerial Vehicles Trajectory Tracking
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Date
2024-01
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Addis Ababa University
Abstract
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.
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Keywords
fixed-wing, MATLAB, FOSMC, UAV, trajectory tracking, PSO, LQR, FOPID