Flexible flying-wing UAV attitude control based on back-stepping, adaptive and terminal-sliding mode

Flexible Flying-wing UAV dynamics parameters changing fiercely results from Flying-wing UAV flight envelope and wing-body fusion exhibition string special aerodynamic layout, Aerodynamic nonlinear and nonlinear dynamics is very serious, the coupling effects, rigid/elastic coupling,between the channels and the coupling effect between the rudder surfaces is very serious, which show strong multivariable coupling and nonlinear, Moreover, other unknown disturbance factors lead to uncertainty. In order to solve such problems, the paper on the basis of such control methods as back stepping，the adaptive and non-singular terminal sliding mode，design a creative UAV attitude adaptive nonlinear sliding mode controller, Simulation examples suggest that the control method has strong nonlinear control performance and robust performance.