Sliding Mode Control for Air-Land Amphibious Unmanned Aerial Vehicle in Land Mode

This paper investigates the control problem of a novel air-land amphibious unmanned aerial vehicle(NALAUAV) in the land mode by the sliding mode control approach. Firstly, considering the body height and moment of inertia of the NALAUAV in the land mode can be changed, we derive the accurate dynamics model based on the mobile wheeled inverted pendulum system and obtain real-time body height calculation through the analysis of the kinematics of the parallel robotic legs. Secondly, we design a novel sliding surface that incorporates body height estimation to ensure rapid stabilization of the body at various body height. Thirdly, we introduce a new segmented power reaching law to further improve the system performance. Theoretical proofs for the algorithm are provided, and its effectiveness is verified by numerical simulations and virtual physical simulations.