Robust trajectory tracking control for unmanned helicopter with mismatched disturbances. (Chinese. English summary) Zbl 1349.68269
Summary: We investigate the robust trajectory tracking controller based on extended disturbance observer (EDO) and sliding mode control algorithm for small-scale unmanned helicopters in the presence of mismatched disturbances. First, a nonlinear mathematical model of unmanned helicopter is presented, to which the approximate linearization technique is applied for partitioning it into two interconnected subsystems: position subsystem and yaw subsystem. Then, by integrating the mismatched disturbances and their derivatives into the new time-varying sliding-mode surface, we develop a novel sliding-mode controller for the helicopter system. Moreover, the stability analysis of the closed-loop system is given. Finally, some comparative simulation results are presented to illustrate the effectiveness and superiority of the proposed control method for unmanned helicopters. This novel sliding-mode controller has two key advantages: insensitivity to mismatched disturbances and suppression of chattering phenomenon.
MSC:
68T40 | Artificial intelligence for robotics |
93C85 | Automated systems (robots, etc.) in control theory |