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A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance

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Abstract

This paper presents a novel sliding mode control (SMC) strategy based on approximate feedback linearization and enhanced nonlinear disturbance observer for small-scale unmanned helicopters with high-order time-varying matched and mismatched disturbance. The novel SMC method is developed by designing a new sliding surface with the estimation of mismatched disturbance and its derivative. The proposed novel SMC method possesses following two appealing traits. First, it is robust with both matched disturbance and mismatched disturbance. Second, the chattering problem can be attenuated significantly. Moreover, the uniformly ultimately bounded stability of the closed-loop helicopter system is proved by theoretical analysis. Finally, the excellent tracking performance and robustness of the proposed flight control scheme are demonstrated by simulation results.

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Acknowledgments

This work is supported by the Natural Science Foundation of China under Grants 61403274 and 51337007, and the Application Base and Frontier Technology Research Project of Tianjin of China under Grants 13JCQNJC03600.

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Authors and Affiliations

  1. School of Electrical Engineering and Automation, Tianjin University, Tianjin, China

    Xing Fang, Aiguo Wu, Yujia Shang & Na Dong

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  1. Xing Fang
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  2. Aiguo Wu
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  3. Yujia Shang
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  4. Na Dong
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Correspondence to Na Dong.

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Fang, X., Wu, A., Shang, Y. et al. A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance. Nonlinear Dyn 83, 1053–1068 (2016). https://doi.org/10.1007/s11071-015-2387-4

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  • DOI: https://doi.org/10.1007/s11071-015-2387-4

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