Adaptive Super-twisting Sliding Mode Attitude Control for Moving Mass-actuated Unmanned Aerial Vehicles

Different from the traditional fixed-wing unmanned aerial vehicles mounted with ailerons, the moving mass-actuated fixed-wing unmanned aerial vehicle (MFUAV) uses the offset of moving mass in the airframe to perform roll motion. Considering the model uncertainties and disturbances, a nonlinear coupled mathematical model of the MFUAV is established. The attitude controller with finite time convergence is designed with the help of adaptive supertwisting sliding mode control (ASTSMC). Through the Lyapunov analysis, the proposed controller guarantees the stability. Simulation results are demonstrated to verify the effect of the designed controller, which makes the system with good command tracking performance and robustness.