Robust Autopilot for a fixed wing UAV using Adaptive Super Twisting technique
Oscar Salas, Herman Castañeda, Jesus De Leon-Morales
This paper addresses the problem of controlling the attitude and the airspeed of a fixed wing Unmanned Aerial Vehicle (UAV). The design of this controllers are based on Adaptive Super Twisting Control Algorithm (ASTA). In order to implement such controllers, estimation of some unmeasurable variables of the UAV are provided by a Robust Differentiator. Furthermore, this control scheme increase robustness since it is not necessary to know the bound of perturbation thanks to adaption gains. Simulation results illustrate the performance of the proposed control scheme, under modeling uncertainties and external perturbations.