Sliding mode attitude controller design of a small-scale helicopter
In this paper,a robust sliding-mode controller is proposed for a small-scale helicopter.The controller is designed by sliding-mode concept combining with an extended state observer.Sliding mode technique is adopted to derive the control law,and the extended state observer is applied to estimate the neglected items and disturbances.Together with these two approaches,attitude controller is designed to force the actual attitude to converge to the reference signals.Several simulations are carried out to evaluate the effectiveness of the proposed method and the results show that the proposed controller yields excellent performance and robustness.
Small-scale helicopter Sliding mode Extended state observer Robustness
Bin Zhou Shuai Tang Peng Li Zhiqiang Zheng
College of Mechatronic Engineering and Automation,National University of Defense Technology,Changsha,410073,P.R.China
国际会议
长沙
英文
2441-2446
2014-05-31（万方平台首次上网日期，不代表论文的发表时间）