Title :
Second order sliding mode control for a quad-rotor helicopter with a nonlinear sliding surface
Author :
Sumantri, Bambang ; Uchiyama, Naoki ; Sano, Shumpei
Author_Institution :
Dept. of Mech. Eng., Toyohashi Univ. of Technol., Toyohashi, Japan
Abstract :
This paper presents a novel second order sliding mode control strategy for a robust tracking controller of a quad-rotor helicopter by utilizing a nonlinear sliding surface. The nonlinear sliding surface enables the closed loop dynamics to have a variable damping ratio, and therefore the transient time to reach the sliding mode can be shorten. The effectiveness of the proposed control strategy is proven experimentally.
Keywords :
aircraft control; autonomous aerial vehicles; closed loop systems; damping; helicopters; nonlinear control systems; robot dynamics; robust control; variable structure systems; closed loop dynamics; nonlinear sliding surface; quadrotor helicopter; robust tracking controller; second order sliding mode control strategy; transient time; variable damping ratio; Damping; Robustness; Rotors; Switches; Torque; Trajectory;
Conference_Titel :
Control Applications (CCA), 2014 IEEE Conference on
Conference_Location :
Juan Les Antibes
DOI :
10.1109/CCA.2014.6981429
