Title :
Sliding mode control for a miniature helicopter
Author :
Fu, Jian ; Chen, Wen-Hua ; Wu, Qing-xian
Author_Institution :
Dept. of Autom., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
A controller based on UAS-SM, sliding mode and open-loop control methodologies is developed for autonomous operation of the Trex-250 helicopter. This controller is composed of a nested sequence of rotor dynamic, angular rate, Euler angle, velocity and position loops. By the controller, coupling of lateral channel and longitudinal channel is greatly reduced. Meanwhile, the feasibility of UAS-SM for implementation is also evaluated in this paper. A practical experiment for Trex-250 is given for the benefits of combined controller.
Keywords :
control system synthesis; helicopters; open loop systems; position control; variable structure systems; velocity control; Euler angle; Trex-250 helicopter; angular rate; lateral channel; longitudinal channel; miniature helicopter; open-loop control methodology; position loop; rotor dynamic sequence; sliding mode control; velocity loop; Aerospace control; Equations; Helicopters; Mathematical model; Robustness; Rotors; Sliding mode control; Trex-250; UAS-SM; open-loop control; practical experiment; sliding mode;
Conference_Titel :
Automation and Computing (ICAC), 2011 17th International Conference on
Conference_Location :
Huddersfield
Print_ISBN :
978-1-4673-0000-1
