Modelica Landing Gear Modelling and On-Ground Trajectory Tracking with Sliding Mode Control

Abstract

A control system for an aircraft taxiing on ground based on sliding mode has been developed. The controller is capable to track the trajectory assigned in terms of longitudinal velocity and yaw rate and to drive an aircraft equipped with electric motors in the main gear as well as conventional brakes and nose gear steer- ing. In addition, it can successfully handle saturation of the actuators. The algorithm is shown to be robust against parameter uncertainties (e.g. aircraft mass) as well as low friction coefficients at the interface tyre-ground. In order to test the tracking controller, an accurate virtual aircraft model has been designed in Modelica, with particular attention to the landing gears.