Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters  

作　　者：Jian Fu Wen-hua Chen Qing-xian Wu 

机构地区：[1]Department of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing,China [2]Department of Aeronautical and Automotive Engineering,Loughborough University,Loughborough,UK

出　　处：《International Journal of Intelligent Computing and Cybernetics》2012年第3期421-438,共18页智能计算与控制论国际期刊（英文）

摘　　要：Purpose-This article proposes a chattering-free sliding mode control scheme with unidirectional auxiliary surfaces(UAS-SMC)for small miniature autonomous helicopters(Trex 250).Design/methodology/approach-The proposed UAS-SMC scheme consists of a nested sequence of rotor dynamics,angular rate,Euler angle,velocity and position loops.Findings-It is demonstrated that the UAS-SMC strategy can eliminate the chattering phenomenon exhibiting in the convenient SMC method and achieve a better approaching speed.Originality/value-The proposed control strategy is implemented on the helicopter and flight tests clearly demonstrate that a much better performance could be achieved,compared with convenient SMC schemes.

关 键 词：Unmanned aircraft Approaching speed Flight control Sliding mode control Helicopters CHATTERING 

分 类 号：V27[航空宇航科学与技术—飞行器设计]