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
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
© EmeraldVersion
- AM (Accepted Manuscript)
Publication date
2012Notes
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/10.1108/17563781211255925ISSN
1756-378XeISSN
1756-3798Publisher version
Language
- en