Hovering Control on a Variable-Parameters Model of a Small Unmanned Helicopter Based on a Backstepping Sliding Mode Method
Source abstract
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.
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Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Aerospace Engineering and Control Systems · Guidance and Control Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Automation, Shenyang Aerospace University, Shenyang 110136, China
Institute of Liaoning General Aviation Research, Shenyang 110136, China
Funding
Basic Research Project of Liaoning Province Department of Education in 2023
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Show source-provided references
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