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Adaptive Twisting Sliding Control for Integrated Attack UAV's Autopilot and Guidance

Minh Tu Nguyen, Van Truong Hoang, Manh Duong Phung, Van Hoa Doan

Abstract

This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative kinematics of the UAV and its potential target of attack. Then, a sliding surface is derived utilizing the zero-effort miss distance. An adaptive twisting sliding mode (ATSMC) algorithm is applied to the integrated system. Simulation and comparisons have been accomplished. The results show our proposed design performs well in interception precision, even with high nonlinearity, uncertainties, disturbances, and abrupt changes in the target's movement, thanks to the adaptation strategy.

Adaptive Twisting Sliding Control for Integrated Attack UAV's Autopilot and Guidance

Abstract

This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative kinematics of the UAV and its potential target of attack. Then, a sliding surface is derived utilizing the zero-effort miss distance. An adaptive twisting sliding mode (ATSMC) algorithm is applied to the integrated system. Simulation and comparisons have been accomplished. The results show our proposed design performs well in interception precision, even with high nonlinearity, uncertainties, disturbances, and abrupt changes in the target's movement, thanks to the adaptation strategy.
Paper Structure (13 sections, 39 equations, 7 figures, 1 table)

This paper contains 13 sections, 39 equations, 7 figures, 1 table.

Table of Contents

  1. Introduction
  2. System model
  3. Geometric and nonlinear dynamics
  4. UAV and Target Dynamical Model
  5. UAV - Target Dynamical Model
  6. UAV Dynamical Model
  7. Integrated Dynamical Model
  8. Control Design
  9. Design $u_{eq}$
  10. Design $u_D$
  11. Results and discussion
  12. Simulation setup
  13. Conclusion

Figures (7)

  • Figure 1: Correlation between the UAV and the target
  • Figure 2: System parameters with modeling errors
  • Figure 3: Target maneuver
  • Figure 4: Engagement trajectories of the target and the UAV with distinctive controllers
  • Figure 5: Cannar deflection of different SMC variations
  • ...and 2 more figures