Design of Navigation Algorithm for Small UAV Based on Sliding Mode Control

How to design a simple,efficient and robust navigation algorithm is significant for UAVs.The kinematic and dynamic properties of UAVs are analyzed,and a nonlinear navigation algorithm is proposed based on the theory of sliding mode control.In order to solve the chattering problem in sliding mode control,the control law is redesigned and the navigation parameters are optimized.The experimental results illuminate the proposed guidance scheme has achieved satisfying performance and can track arbitrary waypoint in automatic flight.