抄録
This study aims to apply Sliding Mode Control (SMC) to autonomous flight systems in real conditions. Although SMC can show high robustness to disturbances or modeling errors, for small flight vehicles the time delay in a control loop may be critical, because flight systems become easily unstable in air. In this study, a Quad-rotor vehicle is used as an example of flight systems. The effect of time delay is examined in computer simulations using the specifications of a real Quad-rotor vehicle. As well as a time delay, the effects of disturbances and modeling errors of the vehicle are also studied. Finally, we discuss the feasibility of applying SMC to a Unmanned Air Vehicle.
