1.

OVERVIEW

1.1 LITERATURE SURVEY

 Attitude controller design of mini-unmanned aerial vehicles using fuzzy

sliding-mode control (F.-K.Yeh), this paper describes the controller design
for a UAV using sliding mode and fuzzy controllers. Here the sliding-mode
control is an effective method for mini-UAVs with propellers to eliminate
system uncertainties. Despite the popularity of such a control technique, it is,
however, well known that the chattering problem is worthy of more attention
for the sake of practical deployment. The chattering phenomenon can be
solved by using the saturation function, which is a non-continuous solution,
or the hyperbolic tangent function, which is a continuous solution,
respectively, to replace the sign function

 Autopilot Design for Unmanned Aerial Vehicles (Ingrid Hagen Johansen),

the paper investigate different methods for unmanned aerial vehicles (UAV)
autopilot design. This includes path-generation, path-following control and
regulation. Computer simulations should be used to evaluate the performance
of the different guidance-controller systems.

 Variable structure control of non-linear systems (Hebertt Sira-Ramirez), this

article presents a differential approach for the design of variable structure
controllers (VSC) leading to sliding regimes in non-linear smooth dynamical
systems described. New properties, inherited from the geometry of the sliding
manifold, are obtained in the controlled system when sliding condition
prevail.
 Sliding Mode Approach to Control Quad-rotor Using Dynamic Inversion (A
bhijit Das, Frank L. Lewis and Kamesh Subbarao), this paper tells the
approach methods to control a Quad-Rotor using sliding mode controller.

 Research on the Steady Precision of Sliding Mode Control of a Class of

Nonlinear Systems (Yigao Deng ; Xinyu Wang ; Yafeng Wang), Steady
tracking precision of linear sliding mode control system and
terminal sliding mode control system of a class of nonlinear systems was
researched. Steady errors of linear sliding mode control system and
terminal sliding mode control system with the saturation function instead of
sign function in the sliding control laws were analyzed and a mathematical
relationship between the steady error and the width of the saturation function
which was used to weaken the chattering of sliding mode control system was
formulated, which provided theoretical basis for the choice of the width of the
saturation function used for weaken chattering of sliding mode control system
and guaranteeing the tracking precision simultaneously. Steady precision was
compared quantitatively between linear sliding mode control and
terminal sliding mode control which showed that than
linear sliding mode control in tracking precision.

 UAV formations control using high order sliding modes (Galzi

D). Formations of unmanned air vehicle using high/second
order sliding mode (HOSM/SOSM) controllers are studied. The purpose of
the study is to control the formation of several agents, or a swarm of UAVs,
using robust and continuous controllers to achieve leader/followers collision-
free path-tracking formation in the presence of unknown bounded
disturbances acting on each UAV. A strategic formation expansion process is
 developed allowing extensive formation of n agents through a chain of
predefined strategies.

1.2 OUTLINE OF THE THESIS

Chapter-1: This gives the overview of the project and literature survey been done
on the preliminary stage.

Chapter-2: This chapter gives the general introduction to the Unmanned UAV,
Quad-Rotor and types of controllers can be used to control the UAV.

Chapter-3: This chapter explain about the Sliding mode controller.

Chapter-4: This chapter explain about the controller design method and
implementation.

Chapter-5: This chapter discuss about the results of the analysis.

Chapter-6: Conclusion made at the end of the project phase.