Chattering-Free Sliding Mode Control with Unidirectional Auxiliary Surface for Miniature Helicopter 4.pdf (716.47 kB)
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journal contribution
posted on 2012-12-06, 13:47 authored by Jian Fu, Wen-Hua ChenWen-Hua Chen, Qing-Xian WuPurpose – This article proposes a chattering-free sliding mode control scheme with unidirectional auxiliary surfaces (UAS-SMC) for small miniature autonomous helicopters (Trex 250).
Design/methodology/approach – The proposed UAS-SMC scheme consists of a nested sequence of rotor dynamics, angular rate, Euler angle, velocity and position loops.
Findings – It is demonstrated that the UAS-SMC strategy can eliminate the chattering phenomenon exhibiting in the convenient SMC method and achieve a better approaching speed.
Originality/value – The proposed control strategy is implemented on the helicopter and flight tests clearly demonstrate that a much better performance could be achieved, compared with convenient SMC schemes.
History
School
- Aeronautical, Automotive, Chemical and Materials Engineering
Department
- Aeronautical and Automotive Engineering