This paper designs disturbance observers for both the position and attitude loops in order to address the problem of disturbances in small-scale unmanned helicopters. In order to overcome the singularity problem introduced by Euler angle representation and the ambiguity problem introduced by quaternion attitude representation, a fixed-time terminal sliding mode controller is developed, using a geometric definition of error. The Lyapunov approach is used to find the greatest stable time. Furthermore, the sliding mode controller’s design successfully avoids singularity issues and lowers chattering. Through simulation, the algorithm’s efficacy was confirmed.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Non-singular Fixed-Time Terminal Sliding Mode Control for a Small Size Unmanned Helicopter


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Deng, Yimin (editor) / Ma, Aochen (author) / Xian, Bin (author)

    Conference:

    International Conference on Guidance, Navigation and Control ; 2024 ; Changsha, China August 09, 2024 - August 11, 2024



    Publication date :

    2025-03-02


    Size :

    10 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Multiloop state-dependent nonlinear time-varying sliding mode control of unmanned small-scale helicopter

    Ozcan, Sinan / Salamci, Metin U / Nalbantoglu, Volkan | SAGE Publications | 2020



    Unmanned Autonomous Helicopter Integral Sliding Mode Control and Its Stability Analysis

    Zhang, Haojia / Li, Aijun / Wang, Yu | Springer Verlag | 2019



    Fixed-Time Terminal Sliding Mode Control for Quadrotor Aircraft

    Wang, Jie / Ma, Xiao / Zhang, Gaowei et al. | British Library Conference Proceedings | 2020