TY - GEN
T1 - Robust Multivariable Sliding Mode Attitude Control for Enhanced Helicopter Handling Qualities
AU - Halbe, Omkar
AU - Hajek, Manfred
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - This paper describes the application of the sliding mode control technique for the design of robust helicopter attitude/rate command controllers for enhanced handling qualities. For robust control design purposes, the influence of interaxis coupling, unmodeled dynamics and turbulence are treated as matched and bounded uncertainties. Ideal system behavior, corresponding to Level 1 handling qualities, is specified as transfer functions for axial responses, and used in the design of the sliding manifolds as such. Using minimalistic linearized system dynamics (axial derivatives only), output tracking multivariable sliding mode control laws enforce ideal system behavior in the presence of the given uncertainties. An evaluation of the achievable handling qualities using a full nonlinear plant model over its full flight envelope has shown Level 1 handling in terms of: 1) moderate to large amplitude step commands, 2) axes decoupling, and 3) turbulence rejection.
AB - This paper describes the application of the sliding mode control technique for the design of robust helicopter attitude/rate command controllers for enhanced handling qualities. For robust control design purposes, the influence of interaxis coupling, unmodeled dynamics and turbulence are treated as matched and bounded uncertainties. Ideal system behavior, corresponding to Level 1 handling qualities, is specified as transfer functions for axial responses, and used in the design of the sliding manifolds as such. Using minimalistic linearized system dynamics (axial derivatives only), output tracking multivariable sliding mode control laws enforce ideal system behavior in the presence of the given uncertainties. An evaluation of the achievable handling qualities using a full nonlinear plant model over its full flight envelope has shown Level 1 handling in terms of: 1) moderate to large amplitude step commands, 2) axes decoupling, and 3) turbulence rejection.
UR - http://www.scopus.com/inward/record.url?scp=85082483751&partnerID=8YFLogxK
U2 - 10.1109/CDC40024.2019.9030184
DO - 10.1109/CDC40024.2019.9030184
M3 - Conference contribution
AN - SCOPUS:85082483751
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 5868
EP - 5873
BT - 2019 IEEE 58th Conference on Decision and Control, CDC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 58th IEEE Conference on Decision and Control, CDC 2019
Y2 - 11 December 2019 through 13 December 2019
ER -