Adjustment mechanism with sliding mode for adaptive PD controller applied to unmanned fixed-wing MAV altitude

Abstract

This work presents an adjustment mechanism with the sliding modes technique to design a proportional derivative (PD) controller with adaptive gains. The objective and contribution are to design a robust adjustment mechanism in the presence of unknown and not modeled perturbations in the system; this perturbation can be considered wind gusts. The robust adjustment mechanism is designed with the MIT rule and the gradient method with the sliding mode theory. The adaptive PD obtained is applied to regulate unmanned fixed-wing miniature aerial vehicle (MAV’s) altitude.