Integrated Guidance and Autopilot for a Path-Following UAV via High-Order Sliding Modes

This study focuses on the integrated guidance and autopilot (IGA) design for a path-following uninhabited aerial vehicle (UAV). A second order sliding structure which facilitates smooth bank and turn coupled motions is used for path-following flight applications. A high-order sliding mode (HOSM) differentiator is used for the estimation of the uncertain sliding surfaces. In order to apply the IGA system for a path-following UAV, a virtual target, set in a pre-specified path, is used. The potential of the proposed method is demonstrated through a UAV path-following application to a helical ascent flight under wind turbulence circumstances.