%0 Journal Article
	%A M. Zamurad Shah and  M. Kemal Özgören and  Raza Samar
	%D 2014
	%J International Journal of Aerospace and Mechanical Engineering
	%B World Academy of Science, Engineering and Technology
	%I Open Science Index 94, 2014
	%T 3D Guidance of Unmanned Aerial Vehicles Using Sliding Mode Approach
	%U https://publications.waset.org/pdf/9999545
	%V 94
	%X This paper presents a 3D guidance scheme for
Unmanned Aerial Vehicles (UAVs). The proposed guidance scheme
is based on the sliding mode approach using nonlinear sliding
manifolds. Generalized 3D kinematic equations are considered
here during the design process to cater for the coupling between
longitudinal and lateral motions. Sliding mode based guidance
scheme is then derived for the multiple-input multiple-output
(MIMO) system using the proposed nonlinear manifolds. Instead of
traditional sliding surfaces, nonlinear sliding surfaces are proposed
here for performance and stability in all flight conditions. In the
reaching phase control inputs, the bang-bang terms with signum
functions are accompanied with proportional terms in order to reduce
the chattering amplitudes. The Proposed 3D guidance scheme is
implemented on a 6-degrees-of-freedom (6-dof) simulation of a UAV
and simulation results are presented here for different 3D trajectories
with and without disturbances.

	%P 1705 - 1711