UAV Control System Design Using Backstepping-Sliding Mode Controller

Abstract

This paper presents a backstepping sliding mode controller for UAV(unmanned aerial vehicles) to implement the attitude and position tracking control. First, dynamic model is introduced for the UAV. The Newton-Euler method has been used to derive the defining equations of motion of the six-degree system. The method was obtained by modelling the kinetic and potential energy of the system and the external forces obtained from the aerodynamic analysis. Secondly, the backstepping sliding mode controller is proposed to develop the attitude and position control system for the UAV system and the system was conducted by Matlab/Simulink. Comparative simulation results with other control systems such as backstepping and sliding mode controller and the proposed control scheme show the efficiency of other control systems.