Agile Maneuvering of Autonomous Quadrotor UAV Using Sliding Mode Position and Gain Scheduling Attitude Controllers
11th International Conference on Recent Advances in Air and Space Technologies (RAST2026), İstanbul, Türkiye, 13 - 15 Mayıs 2026, ss.1-6, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/rast69551.2026.11672523
- Basıldığı Şehir: İstanbul
- Basıldığı Ülke: Türkiye
- Sayfa Sayıları: ss.1-6
- Yıldız Teknik Üniversitesi Adresli: Evet
Özet
Quadrotor unmanned aerial vehicles (UAVs) require advanced attitude controllers for agile maneuvering within the inner loop; however, practical implementations necessitate techniques suitable for real-time execution. In this study, a gain-scheduled controller is applied to the attitude dynamics to ensure effective inner-loop performance during agile maneuvers, while a conventional sliding mode controller (SMC) with proportional derivative-type sliding surfaces is designed for the outer-loop dynamics. After introducing the integration of the gain scheduling attitude and sliding mode position control architecture, the numerical simulations are performed using agile, time-varying trajectory references to demonstrate the effectiveness of the proposed controller structure. While the SMC is employed for outer-loop stability, the performance of both the SMC, which is also designed to control in the inner loop for comparative studies, and the gain scheduling controller is comparatively evaluated within the inner loop; the results indicate that the gain scheduling controller consistently meets the desired performance criteria in a wide operating region.