DocumentCode
184022
Title
Second order sliding mode control for a quad-rotor helicopter with a nonlinear sliding surface
Author
Sumantri, Bambang ; Uchiyama, Naoki ; Sano, Shumpei
Author_Institution
Dept. of Mech. Eng., Toyohashi Univ. of Technol., Toyohashi, Japan
fYear
2014
fDate
8-10 Oct. 2014
Firstpage
742
Lastpage
746
Abstract
This paper presents a novel second order sliding mode control strategy for a robust tracking controller of a quad-rotor helicopter by utilizing a nonlinear sliding surface. The nonlinear sliding surface enables the closed loop dynamics to have a variable damping ratio, and therefore the transient time to reach the sliding mode can be shorten. The effectiveness of the proposed control strategy is proven experimentally.
Keywords
aircraft control; autonomous aerial vehicles; closed loop systems; damping; helicopters; nonlinear control systems; robot dynamics; robust control; variable structure systems; closed loop dynamics; nonlinear sliding surface; quadrotor helicopter; robust tracking controller; second order sliding mode control strategy; transient time; variable damping ratio; Damping; Robustness; Rotors; Switches; Torque; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications (CCA), 2014 IEEE Conference on
Conference_Location
Juan Les Antibes
Type
conf
DOI
10.1109/CCA.2014.6981429
Filename
6981429
Link To Document