Modeling & SMC Based Trajectory Tracking for a Tilt-Rotor Convertible UAV

Mohamed Mimouni, Oualid Araar, Abdelkader Ouadda, Moussa Haddad

2023

Abstract

Convertible UAVs combine the vertical takeoff and landing (VTOL) capabilities of multi-rotors with the endurance and high speed of fixed-wing drones. This work is concerned with a particular category of convertible UAVs, commonly termed Tilt-rotor UAVs (TRUAVs). First, a detailed dynamic model for a Quad-TRUAV is developed. This model features strong non-linearities and coupling, making its control a challenging task. The second contribution of this work is the design of a sliding mode controller (SMC) to ensure trajectory tracking. Simulations conducted on the full non-linear model of the famous Zagi-wing UAV show very promising results.

Paper Citation

in Harvard Style

Mimouni M., Araar O., Ouadda A. and Haddad M. (2023). Modeling & SMC Based Trajectory Tracking for a Tilt-Rotor Convertible UAV. In Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH; ISBN 978-989-758-668-2, SciTePress, pages 97-103. DOI: 10.5220/0012121700003546

in Bibtex Style

@conference{simultech23,
author={Mohamed Mimouni and Oualid Araar and Abdelkader Ouadda and Moussa Haddad},
title={Modeling & SMC Based Trajectory Tracking for a Tilt-Rotor Convertible UAV},
booktitle={Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH},
year={2023},
pages={97-103},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012121700003546},
isbn={978-989-758-668-2},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH
TI - Modeling & SMC Based Trajectory Tracking for a Tilt-Rotor Convertible UAV
SN - 978-989-758-668-2
AU - Mimouni M.
AU - Araar O.
AU - Ouadda A.
AU - Haddad M.
PY - 2023
SP - 97
EP - 103
DO - 10.5220/0012121700003546
PB - SciTePress