Autonomous trajectory tracking control for a large-scale unmanned helicopter under airflow influence

DOI10.1155/2019/7320567MaRDI QIDQ2298746zbMATH OpenOpenAlexWikidataFDO

Authors Zhi Chen, Xiaowei Tu, Qinghua Yang, Jian Fu, Daobo Wang

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/7320567

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: In this paper, a complete nonlinear dynamic unmanned helicopter model considering wind disturbance is proposed to achieve realistic simulations and teasing out the effect of wind on the control system. The wind velocity vector which is horizontal as seen in the inertial frame can be obtained by subtracting the airspeed measured by atmospheric data computer from the inertial speed measured by GPS. The design of the controller fully considers the existence of wind, and the wind disturbance is suppressed by the method of hierarchical control combined with the integral sliding mode control (SMC). The stability proof is given. Hardware in the loop (HIL) tool is employed as a practical engineering solution, and it is an essential step in validating the new algorithm before moving to real flight experiments.

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Cites work

• Design and implementation of an autonomous flight control law for a UAV helicopter
• Hierarchical hybrid modelling and control of an unmanned helicopter
• Robust attitude tracking control of small-scale unmanned helicopter
• Robust full degree-of-freedom tracking control of a helicopter
• Robust output tracking control of a laboratory helicopter for automatic landing

Cited in

(5)

• Design and implementation of an autonomous flight control law for a UAV helicopter
• Improved digital tracking controller design for pilot-scale unmanned helicopter
• A robust guidance and control scheme of an autonomous scale helicopter in presence of wind gusts
• Trajectory-tracking hybrid controller based on ADRC and adaptive control for unmanned helicopters
• Robust adaptive output feedback control for a class of underactuated aerial vehicles with input and output constraints

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