Novel integral sliding mode control for small-scale unmanned helicopters

Tao Jiang*, Defu Lin, Tao Song

*此作品的通讯作者

科研成果: 期刊稿件文章同行评审

27 引用 (Scopus)

摘要

Integral sliding mode (ISM) control which consists of a nominal control and a sliding-mode motion control, provides a nice framework for high tracking performance and good disturbance reduction. Our work develops ISM to attenuate the adverse effect of mismatched perturbations. By properly choosing sliding-manifold surface, the elimination of disturbances on control outputs enables to be achieved. Additionally, the chattering of sliding-mode control part is attenuated based on second-order sliding mode idea. Then, the proposed novel ISM control scheme is applied to address trajectory tracking problem for helicopters under perturbations. Approximated input-output linearization is implemented, such that the obtained linearized model is suitable for applying the proposed ism control. The stability of the closed-loop system for helicopter and its convergence to zeros of tracking errors are demonstrated by Lyapunov theory analysis. Several comparison simulations illustrate the effectiveness and superiority of the proposed methods.

源语言英语
页(从-至)2668-2689
页数22
期刊Journal of the Franklin Institute
356
5
DOI
出版状态已出版 - 3月 2019

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