Output tracking of a 6-DOF flying wing UAV in longitudinal motion using LQR optimized sliding mode control with integral action

In this paper a Linear Quadratic Regulator (LQR) optimized sliding mode control with integral action approach is used with the aim of output tracking of a 6-DOF flying wing UAV in longitudinal motion. The UAV model studied in this paper is a flying wing type which faces challenges in modeling an efficient controller. The Sliding mode integral tracking (SMIT) control system augments the system states with additional error integral states. Then the regular form of system is acquired and a cost function is defined in order to design a LQR optimized sliding mode controller for the system in new regular form. The proposed approach seeks to induce a sliding motion on the defined sliding surface and the proposed control law will drive the system into sliding motion asymptotically and maintain it on. The excellent performance of proposed controller is tested by simulation and the results of tracking are depicted.