Aiming at the coupling problem of the unmanned autonomous helicopter (UAH) which is a fairly complex aerodynamic system with special flight characteristics, this paper analyses the changing of eigenvalues considering the influence of rotor flapping in different flight modes. Through this, the natural characteristics of helicopter are reflected in valid, and it is also conducive to further design of flight control systems. Based on the analysis, designing an integral sliding mode controller and then comparing with the conventional sliding mode controller, the simulation results show that the former can not only achieve better tracking performance but also eliminate the static error. To the author’s best knowledge, there is few application of integral sliding mode control which is suitable for different state points in the field of helicopter flight control and the controller parameters are easy to adjust. This method has perfect applicability to underactuated helicopter system and engineering application.
Unmanned Autonomous Helicopter Integral Sliding Mode Control and Its Stability Analysis
Lect. Notes Electrical Eng.
Proceedings of the 11th International Conference on Modelling, Identification and Control (ICMIC2019) ; Chapter : 29 ; 305-313
2019-12-04
9 pages
Article/Chapter (Book)
Electronic Resource
English
Helicopter dynamics , Stability analysis , Integral sliding mode control Engineering , Control and Systems Theory , Computational Intelligence , Robotics and Automation , Artificial Intelligence , Data-driven Science, Modeling and Theory Building , Power Electronics, Electrical Machines and Networks
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