Autonomous trajectory tracking control system for a fixed-wing UAV

- Derive a longitudinal mathematical model of the UAV from the basic laws of kinetics and kinematics. Linearize
the equations governing the UAV’s motion and finally obtain the state space model for the longitudinal
dynamics of the UAV.

Design an Lyapunov-based MRAC controller within elevator deflection constraints to make the velocity V and
the altitude h track the reference signals Vr and hr asymptotically, from the reference model even if there
exists parametric uncertainties and disturbances.

Design a sliding surface based on the tracking error and design a switching function to drive the system into
the sliding surface in order to drive the tracking error to zero to ensure high accuracy.

Use the Lyapunov theorem to verify the asymptotic stability of the entire system.

Carry out simulation of both the MRAC and Sliding mode controller with MATLAB and Simulink to identify which
control technique has better tracking performance and is more computationally efficient, in terms of simulation
time and CPU time.