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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Unmanned Autonomous Helicopter Integral Sliding Mode Control and Its Stability Analysis


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Wang, Rui (editor) / Chen, Zengqiang (editor) / Zhang, Weicun (editor) / Zhu, Quanmin (editor) / Zhang, Haojia (author) / Li, Aijun (author) / Wang, Yu (author)


    Publication date :

    2019-12-04


    Size :

    9 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English