This paper presents a novel technic for autonomous flight and navigation control of AAVs, particularly useful for helicopters. Three servo-loop controller are introduced to yield stable robust regulation. The inner control loop is based on an LQR regulator designed over the linearized plant at hover to guarantee close-loop stability. The middle loop is a feedback linearization controller based on the close-loop linearized system to cope with the underactuated nature of the helicopter, by guaranteing an asymptotically stable zero dynamics. Finally the outer control loop enforces a tracking second-order sliding-mode for cartesian position and heading navigation outputs. The simplicity of this control proposal allows easier and intuitive guidelines to tune feedback gains while the chattering-free sliding-mode fulfills basic robustness properties, ideal for this complex systems subject to external disturbances like wind gusts.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Robust navigation for an autonomous helicopter with auxiliary chattering-free second order sliding mode control


    Additional title:

    Robuste Navigation eines autonomen Hubschraubers mit chattering-freier Sliding-Mode-Regelung zweiter Ordnung


    Contributors:


    Publication date :

    2009


    Size :

    10 Seiten, 4 Bilder, 1 Tabelle, 14 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English





    Chattering-free Discrete Quasi-sliding Mode Controller

    Yu, S.-h. / Qiang, W.-y. / Fu, P.-c. | British Library Online Contents | 2001


    Sliding Mode Control With Chattering Reduction

    Ramesh, Suryamshu / Seo, Dongeun / Drakunov, Sergey V. | AIAA | 2025


    Free-chattering fractional order sliding mode control of integrated electro-hydraulic servo pump

    Yang, Rongrong / Fu, Yongling / Wang, Yan et al. | British Library Online Contents | 2016


    Chattering-free sliding mode guidance law with impact angle constraint

    Zhou, Weidong / Chen, Yankui / Xiong, Shaofeng | British Library Online Contents | 2016