A novel continuous sliding mode control (CSMC) strategy based on the finite-time disturbance observer (FTDO) is proposed for the small-scale unmanned helicopters in the presence of both matched and mismatched disturbances. First, a novel sliding surface is designed based on the estimates of the mismatched disturbances and their derivatives obtained by the FTDO. Then, a continuous sliding mode control law is developed, which does not lead to any chattering phenomenon. Furthermore, the closed-loop helicopter system is proved to be asymptotically stable. Finally, the excellent hovering and tracking performance, as well as the powerful disturbance rejection capability of the proposed novel CSMC method, is validated by the simulation results.


    Access

    Download


    Export, share and cite



    Title :

    Trajectory Tracking Control for Small-Scale Unmanned Helicopters with Mismatched Disturbances Based on a Continuous Sliding Mode Approach


    Contributors:
    Xing Fang (author) / Yujia Shang (author)


    Publication date :

    2019




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    Sliding mode tracking control for miniature unmanned helicopters

    Xian, Bin / Jianchuan, Guo / Yao, Zhang et al. | Elsevier | 2015

    Free access

    Sliding mode tracking control for miniature unmanned helicopters

    Xian, Bin / Jianchuan, Guo / Yao, Zhang et al. | British Library Online Contents | 2015


    Linear Tracking Controller Design for Small-Scale Unmanned Helicopters

    Raptis, Ioannis A. / Valavanis, Kimon P. | Springer Verlag | 2011