Journal
OPTIK
Volume 125, Issue 12, Pages 2817-2825Publisher
ELSEVIER GMBH, URBAN & FISCHER VERLAG
DOI: 10.1016/j.ijleo.2013.11.069
Keywords
QRUH; Novel robust terminal sliding mode control; Under-actuated systems sliding mode control; Composite control
Categories
Funding
- Natural Science Foundation of Zhejiang Province P.R. China [Y1080950, LY12F03013]
- National Natural Science Foundation of P.R. China [60905034]
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This paper uses the recently developed novel robust terminal sliding mode control (NRTSMC) and under-actuated system sliding mode control (USSMC) approaches to solve the strong coupling and under-actuated problems of a small quad-rotor unmanned helicopter (QRUH). The two controllers have been widely adopted to act as a single control algorithm in many fields, respectively. However, this paper just displays the useful composite application of the two controllers. The QRUH model can be divided into two subsystems, including a fully actuated subsystem (FAS) and an under-actuated subsystem (UAS). For the FAS, the NRTSMC is used to solve the strong coupling problem, it can guarantee the FAS states converge to the desired equilibrium in a very short time, then the states are treated as time invariants and the UAS gets simplified. For the UAS, the USSMC is utilized to solve the under-actuated problem. The obtained simulation results show the applicability of the composite control when faced with external disturbances. (C) 2014 Elsevier GmbH. All rights reserved.
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