#5990. Robust Optimal Higher-order-observer-based Dynamic Sliding Mode Control for VTOL Unmanned Aerial Vehicles

August 2026publication date
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Journal’s subject area:
Applied Mathematics;
Modeling and Simulation;
Computer Science Applications;
Control and Systems Engineering;
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Abstract:
This paper investigates the precise trajectory tracking of unmanned aerial vehicles (UAV) capable of vertical take-off and landing (VTOL) subjected to external disturbances. For this reason, a robust higher-order-observer-based dynamic sliding mode controller (HOB-DSMC) is developed and optimized using the fractional-order firefly algorithm (FOFA). In the proposed scheme, the sliding surface is defined as a function of output variables, and the higher-order observer is utilized to estimate the unmeasured variables, which effectively alleviate the undesirable effects of the chattering phenomenon. A neighboring point close to the sliding surface is considered, and as the tracking error approaches this point, the second control is activated to reduce the control input. The stability analysis of the closed-loop system is studied based on Lyapunov stability theorem. For a better study of the proposed scheme, various trajectory tracking tests are provided, where accurate tracking and strong robustness can be simultaneously ensured.
Keywords:
dynamic sliding mode; fractional firefly algorithm; trajectory tracking; Unmanned aerial vehicle; vertical take-off and landing system

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