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Sliding Surface-Based Path Planning for Unmanned Aerial Vehicle Aerobatics

Author

Listed:
  • Oleg Cravioto

    (Facultad de Ingeniería, Universidad Autónoma del Estado de México, Toluca de Lerdo 50130, Mexico)

  • Belem Saldivar

    (Departamento de Control Automático, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV), Ciudad de México 07360, Mexico)

  • Manuel Jiménez-Lizárraga

    (Facultad de Ciencias Físico Matemáticas, Universidad Autónoma de Nuevo Léon, Nuevo León 66451, Mexico)

  • Juan Carlos Ávila-Vilchis

    (Facultad de Ingeniería, Universidad Autónoma del Estado de México, Toluca de Lerdo 50130, Mexico)

  • Carlos Aguilar-Ibañez

    (Centro de Investigación en Computación, Instituto Politécnico Nacional, Ciudad de México 07738, Mexico)

Abstract

This paper exploits the concept of nonlinear sliding surfaces to be used as a basis in the development of aerial path planning projects involving aerobatic three-dimensional path curves in the presence of disturbances. This approach can be used for any kind of unmanned aerial vehicle aimed at performing aerobatic maneuvers. Each maneuver is associated with a nonlinear surface on which an aerial vehicle could be driven to slide. The surface design exploits the properties of Viviani’s curve and the Hopf bifurcation. A vector form of the super twisting algorithm steers the vehicle to the prescribed surfaces. A suitable switching control law is proposed to shift between surfaces at different time instants. A practical stability analysis that involves the descriptor approach allows for determining the controller gains. Numerical simulations are developed to illustrate the accomplishment of the suggested aerobatic flight.

Suggested Citation

  • Oleg Cravioto & Belem Saldivar & Manuel Jiménez-Lizárraga & Juan Carlos Ávila-Vilchis & Carlos Aguilar-Ibañez, 2024. "Sliding Surface-Based Path Planning for Unmanned Aerial Vehicle Aerobatics," Mathematics, MDPI, vol. 12(7), pages 1-25, March.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:7:p:1047-:d:1367673
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