A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance

This paper presents a novel sliding mode control (SMC) strategy based on approximate feedback linearization and enhanced nonlinear disturbance observer for small-scale unmanned helicopters with high-order time-varying matched and mismatched disturbance. The novel SMC method is developed by designing...

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Bibliographic Details
Published in:Nonlinear dynamics 2016, Vol.83 (1-2), p.1053-1068
Main Authors: Fang, Xing, Wu, Aiguo, Shang, Yujia, Dong, Na
Format: Article
Language:English
Subjects:
Automotive Engineering
Classical Mechanics
Control
Derivatives
Disturbance observers
Disturbances
Dynamical Systems
Engineering
Feedback linearization
Flight control
Helicopter control
Mechanical Engineering
Nonlinear dynamics
Original Paper
Sliding mode control
Small scale
Stability analysis
Unmanned helicopters
Vibration
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Summary:This paper presents a novel sliding mode control (SMC) strategy based on approximate feedback linearization and enhanced nonlinear disturbance observer for small-scale unmanned helicopters with high-order time-varying matched and mismatched disturbance. The novel SMC method is developed by designing a new sliding surface with the estimation of mismatched disturbance and its derivative. The proposed novel SMC method possesses following two appealing traits. First, it is robust with both matched disturbance and mismatched disturbance. Second, the chattering problem can be attenuated significantly. Moreover, the uniformly ultimately bounded stability of the closed-loop helicopter system is proved by theoretical analysis. Finally, the excellent tracking performance and robustness of the proposed flight control scheme are demonstrated by simulation results.
ISSN:0924-090X
1573-269X
DOI:10.1007/s11071-015-2387-4