Chattering-Free Sliding Mode Control with Unidirectional Auxiliary Surface for Miniature Helicopter 4.pdf (716.47 kB)
Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters
journal contributionposted on 2012-12-06, 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.
- Aeronautical, Automotive, Chemical and Materials Engineering
- Aeronautical and Automotive Engineering
CitationFU, 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.
- AM (Accepted Manuscript)
NotesThis 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