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<p>This study presents a novel framework for unified guidance and control of autonomous aerial vehicles operating in three-dimensional environments, evaluated using four control strategies: conventional PID, Continuous Higher-Order Sliding Mode Controller (CHOSMC), L₁ Adaptive Controller, and Adaptive Continuous Higher-Order Sliding Mode Controller (ACHOSMC). The integrated guidance and control structure enhances trajectory tracking and overall performance through improved subsystem coordination, resulting in a more efficient and reliable architecture. Beyond the baseline PID, the advanced strategies address distinct challenges in real-time autonomous navigation and path-following under dynamic and uncertain conditions. A key innovation of the ACHOSMC lies in its adaptive mechanism, which dynamically adjusts critical parameters to maintain optimal performance despite environmental variations and system uncertainties. The L₁ Adaptive Controller also demonstrates notable adaptability and rapid convergence compared to conventional approaches. Simulation outcomes highlight the superiority of the adaptive and higher-order designs in reducing convergence time, optimizing engagement geometry, and achieving smoother trajectories. The results confirm that integrating advanced control techniques within a unified structure improves energy efficiency, robustness against disturbances, and overall mission success in practical UAV applications where adaptability, precision, and resilience are critical.</p>

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Unified Guidance and Control Strategy for Autonomous Aerial Vehicles Using Adaptive Higher-Order Sliding Mode Techniques

  • 期刊论文

  • 发表日期：

    2025年12月16日

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  • Mohamad Mahdi Soori,
  • Seyed Hossein Sadati

摘要

This study presents a novel framework for unified guidance and control of autonomous aerial vehicles operating in three-dimensional environments, evaluated using four control strategies: conventional PID, Continuous Higher-Order Sliding Mode Controller (CHOSMC), L₁ Adaptive Controller, and Adaptive Continuous Higher-Order Sliding Mode Controller (ACHOSMC). The integrated guidance and control structure enhances trajectory tracking and overall performance through improved subsystem coordination, resulting in a more efficient and reliable architecture. Beyond the baseline PID, the advanced strategies address distinct challenges in real-time autonomous navigation and path-following under dynamic and uncertain conditions. A key innovation of the ACHOSMC lies in its adaptive mechanism, which dynamically adjusts critical parameters to maintain optimal performance despite environmental variations and system uncertainties. The L₁ Adaptive Controller also demonstrates notable adaptability and rapid convergence compared to conventional approaches. Simulation outcomes highlight the superiority of the adaptive and higher-order designs in reducing convergence time, optimizing engagement geometry, and achieving smoother trajectories. The results confirm that integrating advanced control techniques within a unified structure improves energy efficiency, robustness against disturbances, and overall mission success in practical UAV applications where adaptability, precision, and resilience are critical.