Extended Sliding Mode Control Scheme for a VTOL UAV with Time-Varying Disturbances

Imran, Imil H.
Memom, Azhar M.
Kurtuluş, Dilek Funda
Goli, Srikanth
Alhems, Luai M.
The control problem of VTOL UAV is studied in this paper. To manage the complexity of the control problem, the system dynamics are decomposed into two subsystems, i.e. translational dynamics and rotational or attitude dynamics. A robust controller for both dynamics using extended sliding mode control (SMC) is designed to maintain the external disturbance in the closed-loop systems. Also, the chattering problem in conventional SMC is attenuated using the proposed scheme. The idea behind the controller design is to handle the disturbances in the closed loop by dominating the uncertainties. The stability of the whole closed-loop system is proven by presenting rigorous mathematical analysis. Moreover, the performance of the proposed controller is demonstrated by conducting several numerical simulations.
Citation Formats
I. H. Imran, A. M. Memom, D. F. Kurtuluş, S. Goli, and L. M. Alhems, “Extended Sliding Mode Control Scheme for a VTOL UAV with Time-Varying Disturbances,” presented at the AIAA AVIATION 2023 Forum, California, Amerika Birleşik Devletleri, 2023, Accessed: 00, 2023. [Online]. Available: https://arc.aiaa.org/doi/pdf/10.2514/6.2023-4461.