This paper presents an adaptive PD control law by using a modified MIT rule. The adjustment mechanism of the MIT rule has been implemented with three types of sliding-mode control, i.e., classical sliding-mode control, second order sliding-mode (2-SM), and high order sliding-mode control (HOSM). The proposed controllers have been designed for the directional and lateral dynamics of a fixed-wing mini aerial autonomous vehicle (MAV). Several simulations have been carried out in order to analyze the modified MIT rule.
Fixed-wing MAV adaptive PD control based on a modified MIT rule with sliding-mode control
2017-06-01
2481219 byte
Conference paper
Electronic Resource
English
Sliding Mode Control for a Fixed-Wing UAV with Disturbance via Adaptive Dynamic Programming
Springer Verlag | 2023
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