To facilitate the nonlinear controller design, dynamic model of a novel coaxial unmanned helicopter (UH) is established and its coupling analysis is presented.

    Design/methodology/approach

    The chattering-free sliding mode controller (SMC) with unidirectional auxiliary surfaces (UASs) is designed and implemented for the coaxial ducted fan UH.

    Findings

    The coupling analysis based on the established model show severe coupling between channels. For coaxial UH’s special model structure, UAS-SMC controller is proposed to reduce the coupling characteristics between channels of the UH by setting controllers’ output calculation sequence.

    Originality/value

    The flight control law and control logic are successfully tested in numerical simulation and hardware in the loop (HIL) simulation. The results show best hovering performances without chattering problem, even under the bounded internal dynamics and external disturbances.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Modelling and hovering control for a coaxial unmanned helicopter using sliding mode


    Beteiligte:
    Chen, Zhi (Autor:in) / Wang, Daobo (Autor:in) / Zhen, Ziyang (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    02.07.2018


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






    Control response analysis of small coaxial helicopter in hovering state

    Guanfeng, X. / Ming, C. | British Library Online Contents | 2011


    Combined coaxial unmanned helicopter

    CHEN MING / WU-MEI LIWEN / ZHAO PENG et al. | Europäisches Patentamt | 2015

    Freier Zugriff

    Aerodynamically Efficient Rotor Design for Hovering Agricultural Unmanned Helicopter

    B. A. Haider / C. H. Sohn / Y. S. Won et al. | DOAJ | 2017

    Freier Zugriff