Autonomous hovering proportional-integral sliding mode controller design and its flight test validation for a small-scaled unmanned helicopter

Chien Hong Lin, Shau Shiun Jan

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)

Abstract

In this paper, a proportional-integral sliding mode control (PISMC) method is presented to achieve the attitude and position control of an unmanned helicopter system for autonomous hovering. The PISMC includes the advantages of both conventional sliding mode control (SMC) and integral sliding mode control (ISMC). The proposed PISMC algorithm is capable of stabilized attitude and position control for unmanned helicopter autonomous hovering, and it offers a performance improvement over the conventional SMC and ISMC algorithms as well. The system performance is quantified and an experimental unmanned helicopter system is developed to access the performance of the PISMC. Both simulations and actual flight tests are conducted to verify the PISMC attitude and position control. The simulation results show that the PISMC tracking error is smaller and that PISMC converges faster than SMC does. The flight test results prove that the proposed PISMC is effective in the attitude and position control of unmanned helicopter autonomous hovering.

Original languageEnglish
Pages (from-to)750-767
Number of pages18
JournalJournal of Aerospace Engineering
Volume26
Issue number4
DOIs
Publication statusPublished - 2013 Oct 1

All Science Journal Classification (ASJC) codes

  • Civil and Structural Engineering
  • Materials Science(all)
  • Aerospace Engineering
  • Mechanical Engineering

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