Generalized super-twisting sliding mode control with a nonlinear sliding surface for robust and energy-efficient controller of a quad-rotor helicopter

This paper proposes a time-varying sliding surface for a second-order sliding mode controller to improve the control performance and energy efficiency of a quad-rotor helicopter. The time-varying sliding surface is designed with a nonlinear function to provide varying properties of the closed-loop d...

Full description

Saved in:
Bibliographic Details
Published in:Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2017-06, Vol.231 (11), p.2042-2053
Main Authors: Sumantri, Bambang, Uchiyama, Naoki, Sano, Shigenori
Format: Article
Language:English
Subjects:
Air flow
Algorithms
Boundary layer
Energy consumption
Energy management
Nonlinear dynamics
Power efficiency
Reliability analysis
Robust control
Sliding mode control
Stability analysis
Surface stability
Twisting
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This paper proposes a time-varying sliding surface for a second-order sliding mode controller to improve the control performance and energy efficiency of a quad-rotor helicopter. The time-varying sliding surface is designed with a nonlinear function to provide varying properties of the closed-loop dynamics in order to reduce energy consumption. It is shown that the second-order sliding mode technique, known as a generalized super twisting algorithm, providing a robust controller and a nonlinear sliding surface is effective in reducing the energy consumption. A Lyapunov stability analysis is described to prove the stability of the proposed method. The effectiveness and reliability of the proposed method are evaluated by performing experiments several times using a quad-rotor helicopter experimental testbed under wind disturbance.
ISSN:0954-4062
2041-2983
DOI:10.1177/0954406216628897