Title :
Robust Sliding Mode Control Law Design for the Lateral Model of a Helicopter
Author :
Chen Wei ; Lu Jingchao ; Huang Degang ; Zhang Weiguo
Author_Institution :
Coll. of Autom., Northwestern Polytech. Univ., Xi´an, China
Abstract :
In this paper, the parameter robust design method and sliding mode control theory are combined to design the helicopter control system in the whole flight envelop with the uncertainties and nonlinearities considered. First based on the flying qualities and the constraint conditions of the measurable states, the partial pole assignment is realized by the parameter robust design method, accordingly the mapping relationship of the parameter space and the corresponding usable set is determined, which provides an effective method to design the equivalent scheduling control law in the whole flight envelop. Second based on the helicopter T -S model within the whole flight envelop, according to the parameter mapping law, the equivalent control law is designed using the parallel distributed compensation algorithm, which ensures the well dynamic performance the control system in the whole flight envelop. Finally the closed-loop system characteristic equation corresponding to the equivalent control law is used to construct the integral sliding surface. The switching is designed so that the system has the robustness against the uncertainties and disturbances. The simulations indicate that the proposed sliding mode control system is robust against the external disturbances, it has the strong disturbance-suppression capability and satisfies the dynamic performance requirements of the helicopter.
Keywords :
aircraft control; closed loop systems; compensation; control system synthesis; distributed control; fuzzy control; helicopters; robust control; variable structure systems; Takagi-Sugeno model; closed-loop system characteristic equation; constraint conditions; control law design; disturbance-suppression capability; flight envelope; flying qualities; helicopter T-S model; helicopter lateral model; integral sliding surface; parallel distributed compensation algorithm; parameter mapping law; parameter robust design method; parameter space; partial pole assignment; robust sliding mode control; scheduling control law; switching design; Equations; Helicopters; Mathematical model; Robustness; Sliding mode control; Switches; Disturbance Suppression; Feedback Helicopters; Integral Sliding Mode; Parameter Robust Design; Sliding Mode Control; T-S Fuzzy Model;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2014 Sixth International Conference on
Conference_Location :
Zhangjiajie
Print_ISBN :
978-1-4799-3434-8
DOI :
10.1109/ICMTMA.2014.140