# Advanced Control Strategies for Securing UAV Systems: A Cyber-Physical Approach
## 3 Results
Figure 5 shows the third performance data of the Nuntius helicopter controlled by a secured SMC for a 45-min flight, changing the route direction at around minute 30. The results are divided into several subplots, each focusing on critical flight parameters and their respective control inputs. Figure 4: Performance data of the Nuntius helicopter controlled by a secured SMC during a 35-min flight. The pilot began sending assisted-manual commands at around minute 20, starting with a throttle reduction. The data highlight the controller’s compensation for these inputs, maintaining stability despite the manual interventions. * Altitude (top-left): The altitude subplot presents the actual altitude (in red) and the desired altitude (in blue). Around minute 30, despite the roll direction change, the altitude remains relatively stable, indicating effective control by the SMC in maintaining vertical position. * Throttle (top-right): The throttle input is shown to vary as the helicopter adjusts to the changing roll commands around minute 30. The controller modulates the throttle to manage power distribution, ensuring continued control over the altitude and horizontal motion. * Flight trajectory (center): The 3D flight trajectory illustrates the helicopter's path, highlighting the region around minute 30 where the roll direction change was applied. The trajectory shows a consistent pattern with minimal deviation, indicating that the SMC maintained stability and effectively managed the attitude adjustment. * Roll, pitch, and yaw (bottom-left):
* Roll: The roll angle subplot captures the actual (red) and desired (blue) roll angles, particularly focusing on the period around minute 30. The data show an increase  
Figure 5: Performance data of the Nuntius helicopter controlled by a secured SMC during a 45-min flight. At around minute 30, a changing direction was applied to the roll loop to test the attitude control performance. The figure showcases the helicopter’s response to this input across various flight parameters. in roll activity, demonstrating the SMC's response to the manual input and its ability to stabilize the roll despite the disturbance. * Pitch: The pitch angle remains relatively stable during the roll direction change, indicating that the SMC effectively isolated the pitch control from the roll disturbance, maintaining the desired pitch angle. * Yaw: The yaw angle subplot shows the yaw response, with the SMC managing to keep yaw disturbances minimal during the roll adjustment, ensuring coordinated control of the aircraft's attitude. * Servo flap positions (bottom-right): * Roll servo flaps: The roll servo positions indicate significant activity around minute 30, as the SMC adjusts the control surfaces to manage the changing roll direction. The servos' responses highlight the controller's ability to adapt to changing conditions swiftly. * Pitch servo flaps: The pitch servo positions show minimal deviation, reflecting the controller's focus on maintaining a stable pitch despite the roll inputs. * Yaw servo flaps: The yaw servo positions illustrate the minor adjustments made to maintain directional stability, complementing the roll and pitch control efforts. * Altitude (top-left): The altitude plot shows the actual altitude (in red) and the desired altitude (in blue). At approximately minute 12, the altitude climbs sharply from 5 m to 60 m as the control mode switches from manual to automatic. Another notable change occurs around minute 35, where the altitude adjusts to around 30 m, showcasing the SMC's capacity to manage altitude transitions smoothly. * Throttle (top-right): The throttle input subplot highlights the controller's adjustments to accommodate the changes in altitude. During the transitions at minutes 12 and 35, the throttle increases correspondingly, demonstrating the controller's responsiveness to altitude commands and its ability to stabilize the helicopter.