RISE Controller Design for Tail-Sitter VTOL Aircraft

This study presents an innovative control methodology known as the robust integral of the sign of error (RISE) for controlling tail-sitter VTOL aircraft. We design the RISE controller to minimize tracking error by leveraging its robustness and employing the RISE control methodology, which produces a continuous and smooth control signal. When comparing the RISE method to the Integral Sliding Mode Controller (ISMC) recommended by other research, it appears that the RISE controller can prevent the chattering that happens because of the ISMC's discontinuous term. Furthermore, compared to ISMC, the RISE controller exhibits superior performance in control action and tracking error reduction.