Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters
journal contributionposted on 06.12.2012, 13:47 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.
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering