Chattering-Free Sliding Mode Control with Unidirectional Auxiliary Surface for Miniature Helicopter 4.pdf (716.47 kB)
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Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters

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journal contribution
posted on 06.12.2012, 13:47 authored by Jian Fu, Wen-Hua ChenWen-Hua Chen, Qing-Xian Wu
Purpose – 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

Citation

FU, J., CHEN, W. and WU, Q., 2012. Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters. International Journal of Intelligent Computing and Cybernetics, 5 (3), pp. 421 - 438.

Publisher

© Emerald

Version

AM (Accepted Manuscript)

Publication date

2012

Notes

This article was published in the International Journal of Intelligent Computing and Cybernetics [© Emerald] and the definitive version is available at: http://dx.doi.org/10.1108/17563781211255925

ISSN

1756-378X

eISSN

1756-3798

Language

en