Multi-variable adaptive high-order sliding mode quasi-optimal control with adjustable convergence rate for unmanned helicopters subject to parametric and external uncertainties

• Published in: Nonlinear dynamics Vol. 108; no. 4; pp. 3671 - 3692
• Main Author: Zhou, Bin
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.06.2022; Springer Nature B.V
• Subjects: Adaptive control; Attitudes; Automotive Engineering; Classical Mechanics; Closed loop systems; Continuity (mathematics); Control; Control methods; Control theory; Controllers; Convergence; Design; Dynamical Systems; Engineering; Equilibrium; Experiments; Helicopter control; Helicopters; Mechanical Engineering; Neural networks; Optimal control; Original Paper; Performance indices; Robustness; Simulation; Sliding mode control; Subsystems; Unmanned helicopters; Vertical orientation; Vibration; Quasi-optimal; Nonlinear adaptive control; Multi-variable control, Sliding mode control; Small-scale unmanned helicopter

This paper presents a novel multi-variable high-order sliding mode quasi-optimal control method for unmanned helicopters. In order to facilitate the theoretical design and engineering implementation, the control system is divided into attitude and position subsystem, and the latter is further subdiv...