Abstract
The approach used in this work is the synthesis of an effective control strategy to deal with uncertainties in the unmanned aerial vehicle's (UAV) characteristics, as well as the theoretical derivation of an adequate theory to overcome the saturation effect. The robust dynamic surface control technique begins by segmenting the unmanned aerial vehicle dynamics into two loops: attitude and position. Then, based on the attitude and position error variables, which comprise attitude angles and position variables, appropriate dynamic surface variables are developed for each loop. The unmodeled dynamics are studied while taking their respective topological features into consideration. The research study's contributions include a novel control approach that accounts for the impact of nonlinear saturation in the input as well as unmodeled dynamics seen in UAV dynamics, resulting in rapid, precise, and reliable attitude variable stabilization. According to the results of this study, the suggested control approach eliminates high frequency oscillations, takes minimal control effort, and provides quick convergence to the appropriate operational setpoint.