Sliding Mode Heading Control for Autonomous Small UAV Without Gyro Information
Ryota Kojima, Kakuji OGAWARA, Hidenori SHINGIN · 49th AIAA Aerospace Sciences Meeting including the New Horizons Forum and Aerospace Exposition · 2011
We have proposed a control algorism using holonomy for small UAVs. Because this control algorism is feedfoerward control, it has possibility that the heading angle overshoots the target yaw angle. This paper presents the sliding mode control for small UAV to reduce the overshoot. Sliding mode has feature of less overshoot. Holonomy control is used in the case that the target yaw angle is large. When the target angle becomes small, sliding mode control is used. In this way, poorly-convergence is inhibited by using sliding mode. Generally, plane is controlled using gyro rate. In this algorism, it is controlled using roll angle without gyro information. The altitude is controlled using delayed feedback control (DFC) at steady flight. DFC has characteristic to converge on unknown equilibrium position. We show that the heading control using sliding mode control and landing control. At landing operation, trajectory tracking is introduced as target angle determination. This algorism can guide UAV to runway. International standard atmosphere, steady wind and continuous gust wind are considered in the numerical simulation. In this paper, we demonstrate efficacy of sliding mode control by simulation.