Work

Hovering Control on a Variable-Parameters Model of a Small Unmanned Helicopter Based on a Backstepping Sliding Mode Method

Year: 2024

Type: article

Abstract: In order to strengthen the hovering precision of a small unmanned helicopter with a manipulator for completing a hovering operation, in this study, a double-loop control strategy of position and attitude is designed. In the position loop, a sliding mode controller is proposed. It attains high precision and strong robustness under continuous disturbance. With the manipulator continuously operating during helicopter hovering, the overall center of gravity and the moment of inertia of the system will also change. Therefore, a backstepping sliding mode controller is proposed in the attitude loop for controlling the hovering attitude of the helicopter. The high precision and strong robustness of the control system are proven. The digital simulation presents a position steady-state error of less than 2% under constant disturbance, and the hovering attitude angle fluctuation amplitude of the helicopter is less than 0.05 rad.

Source: Applied Sciences

DOI: 10.3390/app142210092

Authors: Hongmei Zhang, Zhiyuan Sun, Jin Xu, Rongming Han

Institutions: Shenyang Aerospace University, Liaoning General Aviation Research Institute

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,728

Funder: Shenyang Aerospace University