Angular Rate Constrained Sliding Mode Control of UAVs for Path Following

In this work, a sliding-mode-based attitude controller constrained with the angular rate for unmanned aerial vehicles (UAVs) is addressed to withstand conditions below allowable maximum velocity of UAVs in order avoid possibility structural failure and operate safely. The sliding mode suggested work defines new surface, inherently having two equilibrium points. These points are carefully inspected, stability system controlled by means proposed approach also analyzed using Lyapunov theory. To highlight angular-rate control technique, three-dimensional path constructed Dubins three-axis commands UAV generated augmenting line-of-sight algorithm. Compared conventional measures, excellent performance algorithm has been demonstrated conducting numerical simulations.