TY - GEN
T1 - Adaptive sliding mode for path following control of the unmanned helicopter based on disturbance compensation techniques
AU - Chen, Nanyu
AU - Huang, Jun
AU - Zhou, Yaoming
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/12
Y1 - 2017/7/12
N2 - This paper aims to address the robust control problem of the unmanned helicopter during a path-following task in the presence of inertia uncertainty and external disturbance. A combination of the adaptive sliding mode control method and a nonlinear disturbance observer is proposed as a solution, where the upper bounds of the parametric uncertainty and disturbance are not required in advance. Firstly, according to the force of the flight system, the dynamic model is established by using the Newton-Euler equation and simplified properly. Then an adaptive sliding mode variable structure control method is proposed to combine with adaptive control method, nonlinear disturbance observer (NDO) and sliding mode control techniques which is used to obtain the position controller and attitude controller, respectively. On the premise of sliding mode control to ensure the control robustness, the adaptive control variables are used to compensate the parameter uncertainty and extern disturbance. Base on the Lyapunov theory, the global asymptotic stability is validated. Finally, the algorithm is verified by Matlab simulation experiment and the result is analyzed. It can be seen that the adaptive sliding mode control method has invariance to parameter perturbation and external disturbances and is feasible.
AB - This paper aims to address the robust control problem of the unmanned helicopter during a path-following task in the presence of inertia uncertainty and external disturbance. A combination of the adaptive sliding mode control method and a nonlinear disturbance observer is proposed as a solution, where the upper bounds of the parametric uncertainty and disturbance are not required in advance. Firstly, according to the force of the flight system, the dynamic model is established by using the Newton-Euler equation and simplified properly. Then an adaptive sliding mode variable structure control method is proposed to combine with adaptive control method, nonlinear disturbance observer (NDO) and sliding mode control techniques which is used to obtain the position controller and attitude controller, respectively. On the premise of sliding mode control to ensure the control robustness, the adaptive control variables are used to compensate the parameter uncertainty and extern disturbance. Base on the Lyapunov theory, the global asymptotic stability is validated. Finally, the algorithm is verified by Matlab simulation experiment and the result is analyzed. It can be seen that the adaptive sliding mode control method has invariance to parameter perturbation and external disturbances and is feasible.
KW - Adaptive sliding mode control
KW - Nonlinear disturbance observer
KW - Paht following
KW - Unmanned helicopter
UR - https://www.scopus.com/pages/publications/85028051576
U2 - 10.1109/CCDC.2017.7978966
DO - 10.1109/CCDC.2017.7978966
M3 - 会议稿件
AN - SCOPUS:85028051576
T3 - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
SP - 2670
EP - 2677
BT - Proceedings of the 29th Chinese Control and Decision Conference, CCDC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 29th Chinese Control and Decision Conference, CCDC 2017
Y2 - 28 May 2017 through 30 May 2017
ER -