Robust Multivariable Sliding Mode Attitude Control for Enhanced Helicopter Handling Qualities

Omkar Halbe, Manfred Hajek

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

1 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publication2019 IEEE 58th Conference on Decision and Control, CDC 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5868-5873
Number of pages6
ISBN (Electronic)9781728113982
DOIs
StatePublished - Dec 2019
Event58th IEEE Conference on Decision and Control, CDC 2019 - Nice, France
Duration: 11 Dec 201913 Dec 2019

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2019-December
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference58th IEEE Conference on Decision and Control, CDC 2019
Country/TerritoryFrance
CityNice
Period11/12/1913/12/19

Fingerprint

Dive into the research topics of 'Robust Multivariable Sliding Mode Attitude Control for Enhanced Helicopter Handling Qualities'. Together they form a unique fingerprint.

Cite this