Title :
Multi-surface sliding control of MIMO autonomous flight systems
Author :
Norton, Michael ; Suiyang Khoo ; Kouzani, Abbas ; Stojcevski, Alex
Author_Institution :
Sch. of Electr. Eng., Deakin Univ., Waurn Ponds, VIC, Australia
Abstract :
In this paper, a multi-surface sliding control (MSSC) is proposed for trajectory tracking of 6 degrees of freedom (6-DOF) inertia coupled aerial vehicles with multiple inputs and multiple outputs (MIMO). It is shown that an iterative MSSC design can be carried out to control flight. Using MSSC on MIMO autonomous flight systems creates confluent control that can account for model mismatches, system uncertainties, system disturbances and excitation in internal dynamics. We prove that the MSSC system guarantees asymptotic output tracking and ultimate uniform boundedness of the system. Simulation results are presented to validate the analysis.
Keywords :
MIMO systems; aircraft control; autonomous aerial vehicles; trajectory control; uncertain systems; variable structure systems; 6 degrees of freedom inertia coupled aerial vehicles; 6-DOF inertia coupled aerial vehicles; MIMO autonomous flight systems; MSSC; asymptotic output tracking; confluent control; flight control; internal dynamics excitation; model mismatch; multiple input multiple output system; multisurface sliding control; system disturbances; system uncertainties; trajectory tracking; ultimate uniform boundedness; Equations; Simulation; Trajectory; Uncertainty; Vehicle dynamics; Vehicles;
Conference_Titel :
Control Automation Robotics & Vision (ICARCV), 2014 13th International Conference on
DOI :
10.1109/ICARCV.2014.7064339
