# Advanced Control Strategies for Securing UAV Systems: A Cyber-Physical Approach
## 3 Results
* Roll: The roll angle plot shows the actual roll versus the desired roll angle. The SMC maintains the roll angle within acceptable bounds, even under yaw disturbances, illustrating the controller's capability to manage cross-coupled effects. * Pitch: Similar to roll, the pitch angle plot presents the actual and desired angles. The SMC's control effectively mitigates pitch disturbances, maintaining stability and alignment with the desired pitch trajectory. * Yaw: The yaw plot highlights the impact of the random noise applied between minutes 10 and 20. Despite the noise, the SMC manages to keep the actual yaw close to the desired yaw, showcasing the controller's robustness against yaw disturbances. * Servo flap positions (bottom-right):
* Roll servo flaps: This subplot displays the roll servo positions over time. The SMC adjusts the servo positions dynamically, indicating the control surface's response to counteract roll disturbances and maintain stability. * Pitch servo flaps: The plot shows the pitch servo positions, where the SMC adjusts the controls to correct any deviations in pitch. The control responses are smooth, reflecting the SMC's ability to handle pitch disturbances effectively. * Yaw servo flaps: The yaw servo positions are plotted, demonstrating the SMC's response to the induced yaw disturbances. The controller adjusts the servo positions to maintain the desired yaw, even under random noise, highlighting the system's disturbance rejection capabilities. Figure 4 shows the third performance data of the Nuntius helicopter controlled by a secured SMC for a 30-min flight, applying assisted-manual commands after minute 20. The results are divided into several subplots, each focusing on critical flight parameters and their respective control inputs. * Altitude (top-left): The altitude subplot shows the helicopter's altitude (red) and the desired altitude (blue). At around minute 20, the pilot reduced the throttle, resulting in a descent from 60 m to approximately 20-25 m. The secured SMC adjusted to this change, demonstrating its capability to stabilize the helicopter despite the unexpected manual input. * Throttle (top-right): The throttle subplot indicates a noticeable reduction at minute 20, corresponding with the pilot's intervention. The controller responded by adjusting the throttle input to mitigate the descent rate and maintain control over the aircraft's altitude. * Flight trajectory (center): The 3D plot of the flight trajectory illustrates the helicopter's path, with notable changes in altitude and horizontal positioning after minute 20. Despite the pilot's manual commands, the SMC maintained a controlled descent and kept the helicopter within a manageable flight envelope. * Roll, pitch, and yaw (bottom-left):
* Roll: The roll angle plot shows increased activity after minute 20, where the pilot's manual inputs caused fluctuations in the roll angle. The SMC compensated by adjusting the roll control inputs to stabilize the helicopter. * Pitch: Similar to roll, the pitch angle plot displays increased fluctuations post minute 20 due to manual inputs. The controller's corrective actions are evident, as it worked to maintain the desired pitch despite the disturbances. * Yaw: The yaw plot demonstrates the manual yaw adjustments made by the pilot. The SMC managed to control the yaw movements, keeping them within acceptable limits and preventing excessive deviation from the desired trajectory. * Servo flap positions (bottom-right):
* Roll servo flaps: The roll servo positions show significant activity as the controller worked to counteract the manual roll inputs and maintain stability. * Pitch servo flaps: The pitch servo positions also reflect the controller's adjustments to the manual pitch inputs, highlighting the SMC's ability to manage unexpected control inputs. * Yaw servo flaps: The yaw servo positions illustrate the controller's response to manual yaw inputs, ensuring that the helicopter remained under control despite the disturbances.