Sliding mode control for a miniature helicopter

Author

Fu, Jian ; Chen, Wen-Hua ; Wu, Qing-xian

Author_Institution

Dept. of Autom., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China

fYear

2011

fDate

10-10 Sept. 2011

Firstpage

98

Lastpage

103

Abstract

A controller based on UAS-SM, sliding mode and open-loop control methodologies is developed for autonomous operation of the Trex-250 helicopter. This controller is composed of a nested sequence of rotor dynamic, angular rate, Euler angle, velocity and position loops. By the controller, coupling of lateral channel and longitudinal channel is greatly reduced. Meanwhile, the feasibility of UAS-SM for implementation is also evaluated in this paper. A practical experiment for Trex-250 is given for the benefits of combined controller.

Keywords

control system synthesis; helicopters; open loop systems; position control; variable structure systems; velocity control; Euler angle; Trex-250 helicopter; angular rate; lateral channel; longitudinal channel; miniature helicopter; open-loop control methodology; position loop; rotor dynamic sequence; sliding mode control; velocity loop; Aerospace control; Equations; Helicopters; Mathematical model; Robustness; Rotors; Sliding mode control; Trex-250; UAS-SM; open-loop control; practical experiment; sliding mode;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation and Computing (ICAC), 2011 17th International Conference on

Conference_Location

Huddersfield

Print_ISBN

978-1-4673-0000-1

Type

conf

Filename

6084909