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

Tadeo Espinoza


In this work is presented an adjustment mechanism with the sliding modes technique
to design a PD controller with adaptive gains. the objective and contribution is the
design of a robust adjustment mechanism in presence of unknown and not modeled
perturbations in the system, this perturbation can be considered as 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 regulated the
altitude of unmanned fixed-wing MAV (miniature aerial vehicle).


Adaptive Control; Sliding Mode; Unmanned; Altitude;


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