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Please use this identifier to cite or link to this item: https://dspace.lboro.ac.uk/2134/11108

Title: Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters
Authors: Fu, Jian
Chen, Wen-Hua
Wu, Qing-Xian
Keywords: Approaching speed
Flight control
Sliding mode control
Unmanned aircraft
Issue Date: 2012
Publisher: © Emerald
Citation: FU, J., CHEN, W. and WU, Q., 2012. Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters. International Journal of Intelligent Computing and Cybernetics, 5 (3), pp. 421 - 438.
Abstract: 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.
Description: This article was published in the International Journal of Intelligent Computing and Cybernetics [© Emerald] and the definitive version is available at: http://dx.doi.org/10.1108/17563781211255925
Version: Accepted for publication
DOI: 10.1108/17563781211255925
URI: https://dspace.lboro.ac.uk/2134/11108
Publisher Link: http://dx.doi.org/10.1108/17563781211255925
ISSN: 1756-378X
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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