Sliding Surface-Based Path Planning for Unmanned Aerial Vehicle Aerobatics

Oleg Cravioto, Belem Saldivar, Manuel Jiménez-Lizárraga (), Juan Carlos Ávila-Vilchis and Carlos Aguilar-Ibañez
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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

Mathematics, 2024, vol. 12, issue 7, 1-25

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.

Keywords: 3D path planning; sliding mode surface; multivariable super twisting algorithm; LMI (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2024
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