Chattering‐free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters

Abstract

Purpose

This article proposes a chattering‐free sliding mode control scheme with unidirectional auxiliary surfaces (UAS‐SMC) for small miniature autonomous helicopters (Trex 250).

Design/methodology/approach

The proposed UAS‐SMC scheme consists of a nested sequence of rotor dynamics, angular rate, Euler angle, velocity and position loops.

Findings

It is demonstrated that the UAS‐SMC strategy can eliminate the chattering phenomenon exhibiting in the convenient SMC method and achieve a better approaching speed.

Originality/value

The proposed control strategy is implemented on the helicopter and flight tests clearly demonstrate that a much better performance could be achieved, compared with convenient SMC schemes.

Citation

Fu, J., Chen, W. and Wu, Q. (2012), "Chattering‐free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters", International Journal of Intelligent Computing and Cybernetics, Vol. 5 No. 3, pp. 421-438. https://doi.org/10.1108/17563781211255925