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In this paper, we propose a sliding-mode controller for a mini unmanned aerial vehicle (UAV) with propellers to follow the predetermined attitude trajectory. First the vehicle attitude dynamic model is established for angular displacements and for angular velocities, respectively. Next a sliding-mode controller with a switching surface is designed to eliminate uncertainties and disturbances. Then the attitude tracking control of a mini-UAV using the proposed control strategy is illustrated while flight. Finally, we employ the Lyapunov stability theory to fulfill the stability analysis of the proposed controller for the overall nonlinear control system. Extensive simulation results are gained to validate the effectiveness of the proposed sliding-mode controller.

A passivity-based composite adaptive position control scheme for an induction motor is proposed in this paper. First, the dynamics of the induction motor is proved to be state strictly passive, and a composite adaptation algorithm is proposed to control the position of the induction motor. Then, the global stability of the induction motor position control system is formally proved by the passivity theory. Experimental results are provided to show that the good position tracking can be obtained without any information of the rotor flux. The proposed approach is robust to the variations of motor mechanical parameters and external load disturbances.

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