Multi-Variable Integral Sliding Mode Control of a Two Degrees of Freedom Helicopter

被引：22

作者：

Butt, Saif S. ^{[1
]}

Aschemann, Harald ^{[1
]}

机构：

[1] Univ Rostock, Chair Mechatron, D-18059 Rostock, Germany

来源：

IFAC PAPERSONLINE | 2015年 / 48卷 / 01期

关键词：

Multivariable systems; helicopter control; sliding mode control; extended Kalman filter;

D O I：

10.1016/j.ifacol.2015.05.129

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a multi-variable nonlinear control-oriented model of a twin rotor aerodynamic system (TRAS) is presented. The mathematical description of the multibody system is derived using Lagrange's equations. Based on the resulting state-space representation, a multi-variable integral sliding mode control is designed to accurately track desired trajectories for both the azimuth angle and the pitch angle. Due to unmeasurable states and uncertainties stemming from simplifications at modelling as well as disturbance torques, a discrete-time extended Kalman filter (EKF) is employed and combined with a discrete-time implementation of the nonlinear control law. The proposed control strategy allows for an excellent tracking behaviour as highlighted by experimental results. (C) 2015, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.

引用

页码：802 / 807

页数：6

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