TY - GEN
T1 - Trajectory tracking control for unmanned helicopter based on sliding mode observer
AU - Yang, Haipeng
AU - Chen, Nanyu
AU - Zhou, Yaoming
AU - Meng, Zhijun
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2018/2/7
Y1 - 2018/2/7
N2 - In this paper, a method of trajectory tracking control for Unmanned Helicopter based on sliding mode observer is proposed in view of the composite disturbance forces and torques in the actual flight environment. The unmanned helicopter controller is based on Time-scale separation hypothesis, and thus composed of a position subsystem controller for trajectory tracking and an attitude subsystem controller for attitude control. In the position subsystem, the sliding mode observer is used to estimate the composite disturbance forces. Then the back-stepping method is used to design the control law. In attitude subsystem, the sliding mode observer is used to estimate the composite disturbance torques, and then the compensation control law for ideal dynamic inversion is generated to suppress the disturbance torques. Finally, simulations verify that in comparation with conventional back-stepping the proposed controller has good tracking effects for unmanned helicopter.
AB - In this paper, a method of trajectory tracking control for Unmanned Helicopter based on sliding mode observer is proposed in view of the composite disturbance forces and torques in the actual flight environment. The unmanned helicopter controller is based on Time-scale separation hypothesis, and thus composed of a position subsystem controller for trajectory tracking and an attitude subsystem controller for attitude control. In the position subsystem, the sliding mode observer is used to estimate the composite disturbance forces. Then the back-stepping method is used to design the control law. In attitude subsystem, the sliding mode observer is used to estimate the composite disturbance torques, and then the compensation control law for ideal dynamic inversion is generated to suppress the disturbance torques. Finally, simulations verify that in comparation with conventional back-stepping the proposed controller has good tracking effects for unmanned helicopter.
UR - https://www.scopus.com/pages/publications/85047559365
U2 - 10.1109/ASCC.2017.8287583
DO - 10.1109/ASCC.2017.8287583
M3 - 会议稿件
AN - SCOPUS:85047559365
T3 - 2017 Asian Control Conference, ASCC 2017
SP - 2586
EP - 2591
BT - 2017 Asian Control Conference, ASCC 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 11th Asian Control Conference, ASCC 2017
Y2 - 17 December 2017 through 20 December 2017
ER -