This paper presents a novel technic for autonomous flight and navigation control of AAVs, particularly useful for helicopters. Three servo-loop controller are introduced to yield stable robust regulation. The inner control loop is based on an LQR regulator designed over the linearized plant at hover to guarantee close-loop stability. The middle loop is a feedback linearization controller based on the close-loop linearized system to cope with the underactuated nature of the helicopter, by guaranteing an asymptotically stable zero dynamics. Finally the outer control loop enforces a tracking second-order sliding-mode for cartesian position and heading navigation outputs. The simplicity of this control proposal allows easier and intuitive guidelines to tune feedback gains while the chattering-free sliding-mode fulfills basic robustness properties, ideal for this complex systems subject to external disturbances like wind gusts.


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    Titel :

    Robust navigation for an autonomous helicopter with auxiliary chattering-free second order sliding mode control


    Weitere Titelangaben:

    Robuste Navigation eines autonomen Hubschraubers mit chattering-freier Sliding-Mode-Regelung zweiter Ordnung


    Beteiligte:


    Erscheinungsdatum :

    2009


    Format / Umfang :

    10 Seiten, 4 Bilder, 1 Tabelle, 14 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch





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