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Chattering‐free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters

Chattering‐free sliding mode control with unidirectional auxiliary surfaces for miniature... 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. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Intelligent Computing and Cybernetics Emerald Publishing

Chattering‐free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters

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Publisher
Emerald Publishing
Copyright
Copyright © 2012 Emerald Group Publishing Limited. All rights reserved.
ISSN
1756-378X
DOI
10.1108/17563781211255925
Publisher site
See Article on Publisher Site

Abstract

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.

Journal

International Journal of Intelligent Computing and CyberneticsEmerald Publishing

Published: Aug 17, 2012

Keywords: Unmanned aircraft; Approaching speed; Flight control; Sliding mode control; Helicopters; Chattering

References