Skip to main navigation menu Skip to main content Skip to site footer
International Journal of Robotics and Automation Technology

Articles

Vol. 10 (2023)

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

DOI
https://doi.org/10.31875/2409-9694.2023.10.11
Submitted
December 18, 2023
Published
18.12.2023

Abstract

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.

References

  1. M. V. Cook, "Flight Dynamics Principles", Second edition, Ed. Elsevier, ISBN: 978-0-7506-6927-6, 2007
  2. J.J. Slotine and W. Li, "Applied Nonlinear Control", Prentice Hall, ISBN: 0-1304-0890-5 USA, 1991.
  3. P. Jain and M.J. Nigam, "Design of a Model Reference Adaptive Controller Using Modified MIT Rule for a Second Order System", Advance in Electronic and Electric Engineering, ISSN 2231-1297, Volume 3, Number 4, pp. 477-484, 2013
  4. A. George and R. M. Francis, "Model Reference Control of Binary Distillation Column Composition using MIT Adaptive Mechanism", International Journal of Engineering Research & Technology (IJERT), ISSN: 2278-0181, Volume 4, Issue 06, 2015. https://doi.org/10.17577/IJERTV4IS060683
  5. S. Kumer, K. S. Manic and P. Deepa, "Model Reference Adaptive Control of a Spherical Tank", Australian Journal of Basic and Applied Sciences, Pages: 350-355, 2014
  6. K. J. Astrom, B. Wittenmark "Adaptive Control ", 2nd Edition, Ed. Prentice Hall, ISBN: 978-0201558661, 1994
  7. A. Levant, "Robust Exact Differentition Via Sliding Mode Technique", Automatica, 34, 379-384, 1998. https://doi.org/10.1016/S0005-1098(97)00209-4
  8. K. P. Valavanis, "Advances in Unmanned Aerial Vehicles", Ed. Springer, ISBN: 1-4020-6113-4, 2007. https://doi.org/10.1007/978-1-4020-6114-1
  9. J. Guerrero and R. Lozano, "Flight Formation Control", Ed. Wiley, ISBN: 184-82-1323-9, 2012. https://doi.org/10.1002/9781118387191
  10. D. Mclean, "Automatic Flight Control Systems", Ed. Prentice hall International, ISBN: 0-13-054008-0, 1990
  11. T. Espinoza, R. Parada, A. Dzul and R. Lozano, "Linear controllers implementation for a fixed-wing MAV". 2014 International Conference on Unmanned Aircraft Systems (ICUAS), Orlando, FL, USA, May 27-30, 2014. https://doi.org/10.1109/ICUAS.2014.6842360
  12. O. Harkegard and S. T. Glad, "A Backstepping design for Flight Path Angle Control". In proceedings of the 39th Conference on Decision and Control, Sydney, Australia, December 2000.
  13. Tadeo Espinoza, Alejandro Dzul and Miguel Llama1, "Linear and Nonlinear Controllers Applied to Fixed-Wing UAV". International Journal of Advanced Robotic Systems, vol. 10, 33: 2013. https://doi.org/10.5772/53616
  14. Brian L. Stevens and Frank L. Lewis, "Advances in Unmanned Aerial Vehicles", Ed. Jhon Wiley and Sons, ISBN: 0-471-61397-5, 1992
  15. H. K. Khalil, "Nonlinear Systems", Ed. Prentice Hall, ISBN: 0-13-067389-7, 1996.