TY - GEN
T1 - Robust helicopter sliding mode control for enhanced handling and trajectory following
AU - Halbe, Omkar
AU - Hajek, Manfred
N1 - Publisher Copyright:
© 2020, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.
PY - 2020
Y1 - 2020
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85092423702&partnerID=8YFLogxK
U2 - 10.2514/6.2020-1828
DO - 10.2514/6.2020-1828
M3 - Conference contribution
AN - SCOPUS:85092423702
SN - 9781624105951
T3 - AIAA Scitech 2020 Forum
BT - AIAA Scitech 2020 Forum
PB - American Institute of Aeronautics and Astronautics Inc, AIAA
T2 - AIAA Scitech Forum, 2020
Y2 - 6 January 2020 through 10 January 2020
ER -