期刊
INTERNATIONAL JOURNAL OF CONTROL
卷 95, 期 9, 页码 2473-2484出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207179.2021.1914348
关键词
High order differential feedback controller (HODFC); sliding mode controller (SMC); helicopter angular velocity chaos; chaos control; UAV helicopter
资金
- National Natural Science Foundation of China [61873186]
The small-scale UAV helicopter has a complex structure and can be stabilized in chaotic oscillations using different controllers, with the HODFC showing the best control performance.
The small-scale unmanned aerial vehicle (UAV) helicopter has a complex structure, strong nonlinearity, coupling and open-loop instability, making it shake violently and even produce chaotic oscillation under wind disturbances and improper configuration. The chaotic angular velocity dynamic model of the UAV helicopter is analysed via two cases. The sliding mode controller (SMC) relying on the linearised model, the PID controller, and the high order differential feedback controller (HODFC) not relying on the model are designed. The closed-loop system stability under both SMC and HODFC are analysed. The HODFC with a control filtering can actively reject the disturbance and uncertainty. The control performance of HODFC is superior to SMC and PID controllers. The SMC and HODFC can stabilise the chaotic oscillations of UAV helicopter's angular velocity, whereas the PID controller fails, and the HODFC control effect is superior to the SMC for disturbance rejection, uncertainty and linearisation bias in steady-state errors.
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