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Incremental Control for LAPAN Turbojet UAV Considering Disturbance and Uncertainties

Unexpected external disturbance, parameter uncertainties, and UAV model inaccuracy are several issues causing significant reduction in UAV stability. Robust nominal control based sliding mode control (SMC) has been developed to maintain the flight performance. However, chattering problem comes along with the implementation of discontinuous switching control law in SMC. This paper presents the application of incremental control for LAPAN Turbojet UAV to turn the UAV becomes less sensitive from model dependency, and overcome parameter uncertainties. Incremental approach on SMC (ISMC) and chattering reduction methods are implemented to keep robustness of the control and solve the chattering phenomena occurs on control surface. The proposed control systems are implemented for the decoupled linear UAV models and observed through simulations using MATLAB/Simulink program. The simulation results are analyzed and the advantages of the proposed approach are validated through comparing the results.