Robust helicopter sliding mode control for enhanced handling and trajectory following

Omkar Halbe, Manfred Hajek

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

Helicopters in tactical and maritime missions require superior handling, agility, and stability in turbulence. This paper proposes a sliding mode control (SMC)based robust helicopter trajectory controller that enhances its handling qualities and disturbance rejection. First, flight and turbulence models suitable for control design and flight simulation purposes are identified. The control problem is then posed as one of robust attitude, angular rate, and translational rate command tracking with closed-loop responses that conform to predicted Level 1 handling qualities (HQ). The required closed-loop behavior is enforced by output tracking SMC in a two loop structure by treating axes cross-coupling and exogenous turbulence as matched, bounded uncertainties. To mitigate SMC’s chattering effect, a continuous approximation using the boundary layer concept is applied. Furthermore, any potential actuator saturations during aggressive maneuvers are mitigated by a reference command adaptation law using Pseudocontrol Hedging (PCH). The overall stability and tracking performance are analyzed. The SMC flight controller is evaluated against selected HQ quantitative criteria, two mission task elements requiring moderate to aggressive agility, and a shipboard approach in high-intensity turbulence. Simulation results highlight the controller’s trajectory tracking accuracy, adequate axial decoupling, and insensitivity to disturbances.

Original languageEnglish
Title of host publicationAIAA Scitech 2020 Forum
PublisherAmerican Institute of Aeronautics and Astronautics Inc, AIAA
ISBN (Print)9781624105951
DOIs
StatePublished - 2020
EventAIAA Scitech Forum, 2020 - Orlando, United States
Duration: 6 Jan 202010 Jan 2020

Publication series

NameAIAA Scitech 2020 Forum
Volume1 PartF

Conference

ConferenceAIAA Scitech Forum, 2020
Country/TerritoryUnited States
CityOrlando
Period6/01/2010/01/20

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