# Advanced Control Strategies for Securing UAV Systems: A Cyber-Physical Approach
## 3 Results  
Simulation results show that the SMC-based control system successfully maintains stability and performance in the presence of disturbances and attacks. The adaptive and fault-tolerant mechanisms effectively compensate for anomalies, ensuring resilient UAV operations. Figure 2 illustrates the performance data of the Nuntius model helicopter controlled by the secured SMC during 45 min of flight. The results are divided into several subplots, each focusing on critical flight parameters and their respective control inputs. * Altitude (top-left): The altitude plot displays the helicopter's desired altitude (\(Z_{d}\)) versus the actual altitude (\(Z\)). The SMC effectively maintains the desired altitude with minimal deviations, demonstrating its robustness in altitude control. * Throttle (top-right): The throttle percentage plot shows the control effort required to maintain and adjust altitude. Despite some fluctuations, the throttle remains within an acceptable range, indicating the controller's efficiency in managing the helicopter's power. * Flight trajectory (center): The 3D flight trajectory plot depicts the helicopter's path in the XY-plane over time. The trajectory is smooth and consistent, reflecting the controller's ability to guide the helicopter along a predefined path accurately. * Roll, pitch, and yaw (bottom-left): These plots represent the helicopter's roll (\(\phi\)), pitch (\(\theta\)), and yaw (\(\psi\)) angles compared to their respective desired values. The controller maintains these angles with high precision, ensuring stable and balanced flight. The minor oscillations observed are typical in such dynamic systems and are well within acceptable limits. * Servo flap positions (bottom-right): The positions of the roll, pitch, and yaw servo flaps are shown, indicating the control surface adjustments made to achieve the desired flight dynamics. The servo responses are rapid and precise, reflecting the controller's ability to translate control commands into physical movements effectively. Figure 3 shows the second performance data of the Nuntius helicopter controlled by a secured SMC for a 45-min flight, applying random noise over the yaw angle between minutes 10 and 20. The results are divided into several subplots, each focusing on critical flight parameters and their respective control inputs. Figure 2: Performance of the helicopter’s control system in the presence of the secured algorithm, highlighting various key parameters and their behavior over a 45-min flight. The subplots present altitude, throttle, flight trajectory, roll, pitch, yaw, and corresponding servo flap positions. * Altitude (top-left): The altitude subplot demonstrates the helicopter's altitude control performance. The actual altitude closely follows the desired altitude, indicating robust altitude maintenance by the SMC. The controller's ability to handle altitude disturbances and maintain stability is evident, particularly when the yaw disturbance is applied between 10 and 20 min. * Throttle (top-right): The throttle input percentage is plotted over time, showing how the SMC adjusts the throttle to counteract the effects of disturbances. The plot reveals that the controller modulates the throttle input smoothly, maintaining the desired flight profile despite the random noise applied to the yaw. * Flight trajectory (center): The 3D flight trajectory plot illustrates the helicopter's path during the flight. Despite the yaw disturbances between minutes 10 and 20, the trajectory shows minimal deviation, indicating that the SMC effectively compensates for the disturbances. The SMC ensures the helicopter returns to the desired flight path, demonstrating strong resilience and disturbance rejection. * Roll, pitch, and yaw (bottom-left):  
Figure 3: Performance data of the Nuntius helicopter controlled by a secured SMC during a 45-min flight with random noise applied to the yaw angle between minutes 10 and 20. The subplots display critical flight parameters and corresponding control inputs.