A self-adaptive control approach for the attitude of aerocraft with double-loop SMC

The aerocraftpsilas attitude control system is divided into the outer loop that is angle loop and the inner loop that is angle velocity loop based on their time scales (singular perturbation theory). Then the control law of each loop is designed independently. Exact linearization method is used for the outer loop controller. Model reference adaptive control is used for the the inner loop considering the time variant or perturbation of aerocraftpsilas moment of inertia. Stability analysis is presented for the inner loop by Lyapunov direct method.