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.
Robust navigation for an autonomous helicopter with auxiliary chattering-free second order sliding mode control
Robuste Navigation eines autonomen Hubschraubers mit chattering-freier Sliding-Mode-Regelung zweiter Ordnung
2009
10 Seiten, 4 Bilder, 1 Tabelle, 14 Quellen
Conference paper
English
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