Synthesis of nonlinear robust control for aerial vehicles under parameter uncertainties

Abstract

This paper proposes a nonlinear robust control strategy for the longitudinal motion channel of an aerial vehicle (AV) to enhance flight control quality under parameter uncertainties. A mathematical model of the control object is developed, and a robust nonlinear controller is synthesized using sliding mode control (SMC) combined with a reference model. The controller parameters are designed based on Lyapunov stability theory, ensuring the robust stability of the closed-loop system. A linear modal controller is developed to compare with the proposed nonlinear controller. Comparative simulations conducted in MATLAB/Simulink highlight the superior performance of the proposed controller in terms of tracking accuracy and robustness.