Sliding-Mode Control Applied of a Nonlinear Model of an Unmanned Aerial Vehicle

A FLIGHT control design technique based upon sliding-mode control (SMC) as interpreted in the frequency domain has been exercised in a number of recent studies [1–5]. Although the design technique in these studies has resulted in significant robustness to the effects of modeled vehicle damage, the vehicle models themselves have been linear in nature. The goals of the research to be described are the 1) use of a nonlinear vehicle model in computer simulation of the design and 2) comparison of the performance of the resulting design to that of a nonlinear inversion controller that has been described in [6].