Development of actuator controller in smart UAV

Actuation system of smart UAV based on fly-by-wire is a type of electronic linear actuation and basically consists of dual systems with dual motors and sensors. To drive each actuator for rotor, nacelle tilt, flaperon and elevator, each actuator controller was developed. This paper shows the result of developing actuator controller including the modeling for actuation system, the control design based on system model and its load test on rig. The model for actuation system consists of motors, sensors, linkages and aerodynamic loads. The control design for actuator controller was based on fuzzy sliding mode control. The prototype of actuator controller was verified to design requirements of smart UAV through test and evaluation.