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

研究成果: Article同行評審

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)750-767
頁數18
期刊Journal of Aerospace Engineering
26
發行號4
DOIs
出版狀態Published - 2013 十月 1

All Science Journal Classification (ASJC) codes

  • 土木與結構工程
  • 材料科學(全部)
  • 航空工程
  • 機械工業

指紋

深入研究「Autonomous hovering proportional-integral sliding mode controller design and its flight test validation for a small-scaled unmanned helicopter」主題。共同形成了獨特的指紋。

引用此