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

Mohamed Mimouni; Oualid Araar; Abdelkader Ouadda; Moussa Haddad

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Paper

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

Topics: Non-Linear Systems; Robotics, Automation and Mechatronics

In Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications SIMULTECH - Volume 1, 97-103, 2023 , Rome, Italy

Authors: Mohamed Mimouni ; Oualid Araar ; Abdelkader Ouadda and Moussa Haddad

Affiliation: Ecole Militaire Polytechnique, Algeria

Keyword(s): Tilt-Rotor UAV, SMC Control, Convertible UAV, Trajectory Tracking.

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.

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Paper citation in several formats:

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 - SIMULTECH; ISBN 978-989-758-668-2; ISSN 2184-2841, SciTePress, pages 97-103. DOI: 10.5220/0012121700003546

@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 - SIMULTECH},
year={2023},
pages={97-103},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012121700003546},
isbn={978-989-758-668-2},
issn={2184-2841},
}

TY - CONF

JO - Proceedings of the 13th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - SIMULTECH
TI - Modeling & SMC Based Trajectory Tracking for a Tilt-Rotor Convertible UAV
SN - 978-989-758-668-2
IS - 2184-2841
AU - Mimouni, M.
AU - Araar, O.
AU - Ouadda, A.
AU - Haddad, M.
PY - 2023
SP - 97
EP - 103
DO - 10.5220/0012121700003546
PB - SciTePress