Modelling and hovering control for a coaxial unmanned helicopter using sliding mode
Aircraft Engineering and Aerospace Technology
ISSN: 0002-2667
Article publication date: 2 July 2018
Issue publication date: 12 September 2018
Abstract
Purpose
To facilitate the nonlinear controller design, dynamic model of a novel coaxial unmanned helicopter (UH) is established and its coupling analysis is presented.
Design/methodology/approach
The chattering-free sliding mode controller (SMC) with unidirectional auxiliary surfaces (UASs) is designed and implemented for the coaxial ducted fan UH.
Findings
The coupling analysis based on the established model show severe coupling between channels. For coaxial UH’s special model structure, UAS-SMC controller is proposed to reduce the coupling characteristics between channels of the UH by setting controllers’ output calculation sequence.
Originality/value
The flight control law and control logic are successfully tested in numerical simulation and hardware in the loop (HIL) simulation. The results show best hovering performances without chattering problem, even under the bounded internal dynamics and external disturbances.
Keywords
Citation
Chen, Z., Wang, D. and Zhen, Z. (2018), "Modelling and hovering control for a coaxial unmanned helicopter using sliding mode", Aircraft Engineering and Aerospace Technology, Vol. 90 No. 5, pp. 815-827. https://doi.org/10.1108/AEAT-05-2016-0075
Publisher
:Emerald Publishing Limited
Copyright © 2018, Emerald Publishing Limited