Fixed-time composite observer-based adaptive recursive sliding mode control for tiltrotor UAV attitude tracking

Fixed-time composite observer-based adaptive recursive sliding mode control for tiltrotor UAV attitude tracking | Research Square window.SnipcartSettings = { analytics: { enabled: false } }; (function() { var accessVector = localStorage.getItem('access_vector') || ''; window.dataLayer = window.dataLayer || []; if (accessVector) { window.dataLayer.push({ user: { profile: { profileInfo: { snid: accessVector } } } }); } })(); (function(w,d,s,l,i){w[l]=w[l]||[];w[l].push({'gtm.start':new Date().getTime(),event:'gtm.js'});var f=d.getElementsByTagName(s)[0],j=d.createElement(s),dl=l!='dataLayer'?'&l='+l:'';j.async=true;j.src='https://www.googletagmanager.com/gtm.js?id='+i+dl;f.parentNode.insertBefore(j,f);})(window,document,'script','dataLayer','GTM-K279D39R'); Browse Preprints In Review Journals COVID-19 Preprints AJE Video Bytes Research Tools Research Promotion AJE Professional Editing AJE Rubriq About Preprint Platform In Review Editorial Policies Our Team Advisory Board Help Center Sign In Submit a Preprint Cite Share Download PDF Research Article Fixed-time composite observer-based adaptive recursive sliding mode control for tiltrotor UAV attitude tracking Liwei Luo, Sheng Xu, Chengyue Su, Mengshan Xie, Jinfa Li This is a preprint; it has not been peer reviewed by a journal. https://doi.org/ 10.21203/rs.3.rs-4166273/v1 This work is licensed under a CC BY 4.0 License Status: Posted Version 1 posted You are reading this latest preprint version Abstract An adaptive recursive sliding mode control (ARSMC) scheme based on a fixed-time composite observer (FTO) is introduced in this paper, to address challenges in tiltrotor unmanned aerial vehicle (TUAV) attitude control. As an electric vertical take-off and landing (eVTOL) aircraft, the unique structure of TUAV leads to significant aerodynamic disturbances, particularly during transition modes, causing flight instability. To enhance control robustness, a fast-converging FTO is designed to estimate the system states, model uncertainties and external disturbances, achieving fixed-time convergence. The FTO comprises a fixed-time state observer (FTSO) based on homogeneous function and a fixed-time disturbance observer (FTDO). To accomplish rapid and accuracy attitude tracking during TUAV flight, a recursive sliding mode control (RSMC) is employed. This method utilizes reconstructed information from the FTO, incorporates an adaptive law to update control gains, and ensures finite-time convergence. And the recursive structure reduces the convergence time while reducing chattering phenomena. Ultimately, simulation results demonstrate the effectiveness of the proposed FTO-ARSMC (FAC) strategy in rapidly and robustly controlling the attitude during the transition mode of TUAV. Tiltrotor UAV Flight mode transition Fixed-time observer Adaptive recursive sliding mode control Full Text Additional Declarations No competing interests reported. Cite Share Download PDF Status: Posted Version 1 posted You are reading this latest preprint version Research Square lets you share your work early, gain feedback from the community, and start making changes to your manuscript prior to peer review in a journal. As a division of Research Square Company, we’re committed to making research communication faster, fairer, and more useful. We do this by developing innovative software and high quality services for the global research community. Our growing team is made up of researchers and industry professionals working together to solve the most critical problems facing scientific publishing. Also discoverable on Platform About Our Team In Review Editorial Policies Advisory Board Help Center Resources Author Services Accessibility API Access RSS feed Manage Cookie Preferences © Research Square 2026 | ISSN 2693-5015 (online) Privacy Policy Terms of Service Do Not Sell My Personal Information {"props":{"pageProps":{"initialData":{"identity":"rs-4166273","acceptedTermsAndConditions":true,"allowDirectSubmit":true,"archivedVersions":[],"articleType":"Research Article","associatedPublications":[],"authors":[{"id":285528686,"identity":"79f5fc28-9ce8-43ca-a324-2755beb008d8","order_by":0,"name":"Liwei Luo","email":"","orcid":"","institution":"School of Physics and Optoelectronic Engineering, Guangdong University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Liwei","middleName":"","lastName":"Luo","suffix":""},{"id":285528687,"identity":"43f48681-b0b7-46ab-ae5d-75f897da11e8","order_by":1,"name":"Sheng Xu","email":"data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAZAAAAAyAQMAAABI0h/eAAAABlBMVEX///8AAABVwtN+AAAACXBIWXMAAA7EAAAOxAGVKw4bAAAA30lEQVRIiWNgGAWjYHACNhAhx8CQAKKZiddiDNTC2ECSlsQGorUY3Eh/9uDjjtr0+e455g8YKqwTG9jPHsCrRXJGjrnhzDPHczeeeWPYwHAmPbGBJy8BrxZ+iRw2ad62Y7kbZ+QYNjC2HU5skOAxwO8RifRn0n/bjqUbgrX8I0ILv0SCmTRjW02CvARISwMRWiR73phJ9rYdMNzA86xwRsKxdOM2nhz8WgyOpz+T+NlWJy/fnrzhw4caa9l+9jP4tUDBYQaDAwyQBMBGjHogqGOQbyBS6SgYBaNgFIw8AADjq0aN1nKQLgAAAABJRU5ErkJggg==","orcid":"","institution":"School of Physics and Optoelectronic Engineering, Guangdong University of Technology","correspondingAuthor":true,"prefix":"","firstName":"Sheng","middleName":"","lastName":"Xu","suffix":""},{"id":285528688,"identity":"836730ee-7fa8-4981-bc0d-19fa3b959ea5","order_by":2,"name":"Chengyue Su","email":"","orcid":"","institution":"School of Physics and Optoelectronic Engineering, Guangdong University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Chengyue","middleName":"","lastName":"Su","suffix":""},{"id":285528689,"identity":"b5888e31-8e52-4c25-bbe8-197d5b07e725","order_by":3,"name":"Mengshan Xie","email":"","orcid":"","institution":"The Fifth Electronics Research Institute of the Ministry of Industry and Information Technology","correspondingAuthor":false,"prefix":"","firstName":"Mengshan","middleName":"","lastName":"Xie","suffix":""},{"id":285528690,"identity":"e03851cf-f218-41e8-b5eb-2ce29fb2c4cd","order_by":4,"name":"Jinfa Li","email":"","orcid":"","institution":"School of Physics and Optoelectronic Engineering, Guangdong University of Technology","correspondingAuthor":false,"prefix":"","firstName":"Jinfa","middleName":"","lastName":"Li","suffix":""}],"badges":[],"createdAt":"2024-03-26 01:59:16","currentVersionCode":1,"declarations":"","doi":"10.21203/rs.3.rs-4166273/v1","doiUrl":"https://doi.org/10.21203/rs.3.rs-4166273/v1","draftVersion":[],"editorialEvents":[],"editorialNote":"","failedWorkflow":false,"files":[{"id":59059484,"identity":"e6f64d30-3ee3-4d5c-9358-7e56cf3f91fd","added_by":"auto","created_at":"2024-06-25 23:52:31","extension":"pdf","order_by":1,"title":"","display":"","copyAsset":false,"role":"manuscript-pdf","size":7202680,"visible":true,"origin":"","legend":"","description":"","filename":"NDyLatexsourcefileofFACfortilrotorUAV.pdf","url":"https://assets-eu.researchsquare.com/files/rs-4166273/v1_covered_964de771-a0d3-4e48-81fb-c97dde9b1579.pdf"}],"financialInterests":"No competing interests reported.","formattedTitle":"Fixed-time composite observer-based adaptive recursive sliding mode control for tiltrotor UAV attitude tracking","fulltext":[],"fulltextSource":"","fullText":"","funders":[],"hasAdminPriorityOnWorkflow":false,"hasManuscriptDocX":false,"hasOptedInToPreprint":true,"hasPassedJournalQc":"","hasAnyPriority":false,"hideJournal":true,"highlight":"","institution":"","isAcceptedByJournal":false,"isAuthorSuppliedPdf":true,"isDeskRejected":"","isHiddenFromSearch":false,"isInQc":false,"isInWorkflow":false,"isPdf":true,"isPdfUpToDate":true,"isWithdrawnOrRetracted":false,"journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true},"keywords":"Tiltrotor UAV, Flight mode transition, Fixed-time observer, Adaptive recursive sliding mode control","lastPublishedDoi":"10.21203/rs.3.rs-4166273/v1","lastPublishedDoiUrl":"https://doi.org/10.21203/rs.3.rs-4166273/v1","license":{"name":"CC BY 4.0","url":"https://creativecommons.org/licenses/by/4.0/"},"manuscriptAbstract":"An adaptive recursive sliding mode control (ARSMC) scheme based on a fixed-time composite observer (FTO) is introduced in this paper, to address challenges in tiltrotor unmanned aerial vehicle (TUAV) attitude control. As an electric vertical take-off and landing (eVTOL) aircraft, the unique structure of TUAV leads to significant aerodynamic disturbances, particularly during transition modes, causing flight instability. To enhance control robustness, a fast-converging FTO is designed to estimate the system states, model uncertainties and external disturbances, achieving fixed-time convergence. The FTO comprises a fixed-time state observer (FTSO) based on homogeneous function and a fixed-time disturbance observer (FTDO). To accomplish rapid and accuracy attitude tracking during TUAV flight, a recursive sliding mode control (RSMC) is employed. This method utilizes reconstructed information from the FTO, incorporates an adaptive law to update control gains, and ensures finite-time convergence. And the recursive structure reduces the convergence time while reducing chattering phenomena. Ultimately, simulation results demonstrate the effectiveness of the proposed FTO-ARSMC (FAC) strategy in rapidly and robustly controlling the attitude during the transition mode of TUAV.","manuscriptTitle":"Fixed-time composite observer-based adaptive recursive sliding mode control for tiltrotor UAV attitude tracking","msid":"","msnumber":"","nonDraftVersions":[{"code":1,"date":"2024-04-01 18:07:07","doi":"10.21203/rs.3.rs-4166273/v1","editorialEvents":[{"type":"communityComments","content":0}],"status":"published","journal":{"display":true,"email":"[email protected]","identity":"researchsquare","isNatureJournal":false,"hasQc":true,"allowDirectSubmit":true,"externalIdentity":"","sideBox":"","snPcode":"","submissionUrl":"/submission","title":"Research Square","twitterHandle":"researchsquare","acdcEnabled":true,"dfaEnabled":false,"editorialSystem":"","reportingPortfolio":"","inReviewEnabled":false,"inReviewRevisionsEnabled":true}}],"origin":"","ownerIdentity":"4ff6e6b1-0417-40b6-9627-0fde8ed27f2e","owner":[],"postedDate":"April 1st, 2024","published":true,"recentEditorialEvents":[],"rejectedJournal":[],"revision":"","amendment":"","status":"posted","subjectAreas":[],"tags":[],"updatedAt":"2024-06-25T23:44:17+00:00","versionOfRecord":[],"versionCreatedAt":"2024-04-01 18:07:07","video":"","vorDoi":"","vorDoiUrl":"","workflowStages":[]},"version":"v1","identity":"rs-4166273","journalConfig":"researchsquare"},"__N_SSP":true},"page":"/article/[identity]/[[...version]]","query":{"redirect":"/article/rs-4166273","identity":"rs-4166273","version":["v1"]},"buildId":"qtupq5eGEP_6zYnWcrvyt","isFallback":false,"isExperimentalCompile":false,"dynamicIds":[84888],"gssp":true,"scriptLoader":[]}