SYNTHETIC PATH FOLLOWING CONTROL SYSTEM FOR UNMANNED AERIAL VEHICLES BASED ON BACKSTEPPING CONTROL

Abstract

This paper presents a method of synthesizing the trajectory tracking control system for Unmanned Aerial Vehicle (UAV) under a unified control loop taking into account the kinematics of the inner control loop based on Backstepping Sliding Mode technique. Different from the proposed method of using Sliding Mode to ignore the kinematics of the inner control loop, the proposed method has overcome the system's weaknesses due to incomplete calculation of the system's kinematics, thereby improving the efficiency of the system. By using virtual control for both the trajectory control loop  and the stable control loop, the system has a stable operation and better quality compared to the kinematic bypass method of the inner control loop. This has been proven based on the Lyapunov theory and verified by simulation.