Attitude tracking of 2-DOF aero system with hierarchical sliding mode control under affine and exogenous disturbance

Q: What does this research mean for the field?

A hierarchical sliding mode control (HSMC) strategy that decouples nonlinear systems into linear position and nonlinear velocity control subsystems significantly improves trajectory tracking and reduces error in 2-DOF aero systems under affine and exogenous disturbances compared to conventional controllers. Novelty: ClaimNovelty.METHODOLOGICAL. Consensus alignment: ConsensusAlignment.NEUTRAL.

Gaurav Kumawat; Niraj Kumar Goswami; Jayashri Vajpai

doi:10.1177/09596518261449532

May 25, 2026Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering

Attitude tracking of 2-DOF aero system with hierarchical sliding mode control under affine and exogenous disturbance

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Key Points

The aim is to develop a hierarchical sliding mode control (HSMC) for 2 DOF systems to effectively handle disturbances.
Designed a hierarchical sliding mode control to decouple the nonlinear system into two subsystems.
Utilized Lyapunov-based analysis to ensure closed-loop stability and optimized controller parameters with a genetic algorithm.
Compared HSMC against Fuzzy Logic Control, Backstepping Control, and other methods based on performance metrics.
HSMC achieved a settling time of 1.5s for pitch dynamics compared to 2.5-4s for competing controllers.
Overshoot was reduced to 4% against up to 33% for other methods, with a steady-state error of 0.04°.
In trajectory tracking, IAE, ISE, ITAE, and ITSE were reduced by 40-85%, showing significantly improved performance.

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Implication

Demonstrates enhanced attitude tracking in a 2 DOF flight control system, indicating improved stability and performance.

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Kumawat et al. (2026) studied this question.

synapsesocial.com/papers/6a168b280c924ddd1bd5a052 https://doi.org/10.1177/09596518261449532

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Attitude tracking of 2-DOF aero system with hierarchical sliding mode control under affine and exogenous disturbance

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Attitude tracking of 2-DOF aero system with hierarchical sliding mode control under affine and exogenous disturbance

Key Points

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Implication

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