Work

Adaptive Sliding‐Mode Anti‐Disturbance Attitude Control for UAVs With Actuator Faults and Dead Zones

Year: 2025

Type: article

Abstract: ABSTRACT This paper addresses the problem of adaptive robust attitude control for fixed‐wing unmanned aerial vehicles subject to actuator faults, input dead zones, matched disturbances, and mismatched disturbances. An adaptive sliding mode disturbance observer is developed to estimate unknown mismatched disturbances and reduce conservatism in gain selection. Based on the reconstructed mismatched disturbances, a modified sliding surface is constructed, upon which a barrier function‐based adaptive sliding mode controller is designed to compensate for lumped matched uncertainties and achieve accurate attitude tracking. A notable feature of the proposed controller is its ability to predefine the convergence neighborhood of the sliding variable while eliminating discontinuous terms, effectively mitigating chattering. Theoretical analysis establishes system stability, and numerical simulations validate the effectiveness of the controller.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70276

Authors: Chang Zhang, Jiang Wang, Shipeng Fan

Institution: Beijing Institute of Technology

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funder: National Natural Science Foundation of China

Awards: G336257773, G8770352041