文章基本信息

标题：Multi-Variable Integral Sliding Mode Control of a Two Degrees of Freedom Helicopter
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作者：Saif S. Butt ; Harald Aschemann
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：1
页码：802-807
DOI：10.1016/j.ifacol.2015.05.129
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a multi-variable nonlinear control-oriented model of a twin rotor aerodynamic system (TRAS) is presented. The mathematical description of the multibody system is derived using Lagrange's equations. Based on the resulting state-space representation, a multi-variable integral sliding mode control is designed to accurately track desired trajectories for both the azimuth angle and the pitch angle. Due to unmeasurable states and uncertainties stemming from simplifications at modelling as well as disturbance torques, a discrete-time extended Kalman filter (EKF) is employed and combined with a discrete-time implementation of the nonlinear control law. The proposed control strategy allows for an excellent tracking behaviour as highlighted by experimental results.
关键词：KeywordsMultivariable systemshelicopter controlsliding mode controlextended Kalman filter