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

A.T. Espinoza-Fraire, A. S ́aenz-Esqueda, F. C ́ortes-Mart ́ınez


This work presents an adjustment mechanism with the sliding modes technique to de- sign 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 gra- dient method with the sliding mode theory. The adaptive PD obtained is applied to regulate unmanned fixed-wing miniature aerial vehicle (MAV’s) altitude.


Adaptive control; Altitude mode; Unmanned

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