Sliding mode tracking control for unmanned helicopter using extended disturbance observer

• Autorzy: Ullah Ihsan , Pei Hai-Long

Identyfikatory

DOI

10.24425/acs.2019.127530

• Języki publikacji: EN

Abstrakty

EN

This paper presents a robust control technique for small-scale unmanned helicopters to track predefined trajectories (velocities and heading) in the presence of bounded external disturbances. The controller design is based on the linearized state-space model of the helicopter. The multivariable dynamics of the helicopter is divided into two subsystems, longitudinallateral and heading-heave dynamics respectively. There is no strong coupling between these two subsystems and independent controllers are designed for each subsystem. The external disturbances and model mismatch in the longitudinal-lateral subsystem are present in all (matched and mismatched) channels. This model mismatch and external disturbances are estimated as lumped disturbances using extended disturbance observer and an extended disturbance observer based sliding mode controller is designed for it to counter the effect of these disturbances. In the case of heading-heave subsystem, external disturbances and model mismatch only occur in matched channels so a second order sliding mode controller is designed for it as it is insensitive to matched uncertainties. The control performance is successfully tested in Simulink.

Słowa kluczowe

EN

unmanned helicopter; external disturbances; sliding mode control; extended disturbance observer; mismatched uncertainty

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2019
• Tom: Vol. 29, No. 1
• Strony: 169--199
• Opis fizyczny: Bibliogr. 30 poz., rys., tab., wykr., wzory

Twórcy

autor

Ullah Ihsan

• School of Automation Science & Engineering, South China University of Technology, Guangzhou Guangdong 510640, China
• Key Lab of Autonomous Systems and Networked Control,Ministry of Education,Guangzhou, Guangdong 510640, China and Unmanned System Engineering Center of Guangdong Province, China

autor

Pei Hai-Long

• School of Automation Science & Engineering, South China University of Technology, Guangzhou Guangdong 510640, China
• Key Lab of Autonomous Systems and Networked Control,Ministry of Education,Guangzhou, Guangdong 510640, China and Unmanned System Engineering Center of Guangdong Province, China

Bibliografia

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Uwagi

EN

1. This work is supported in part by the Scientific Instruments Development Program of National Natural Science Foundation of China (NSFC) under grant 615278010 and the Science & Technology Planning Project of Guangdong, China under grant 2017B010116005.

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).