Abstract
This paper synthesizes a continuous, multivariable, finite-time-convergent, super-twisting attitude and rate controller for rotorcraft with the objective of providing desired handling qualities and robustness characteristics. A sliding manifold is defined in the system state space to represent ideal attitude and rate command response dynamics of relative degree one with respect to the command input. Subsequently, robust command tracking is achieved via the synthesis of a multivariable super-twisting flight controller, which renders the plant states convergent on to the defined sliding manifold in finite-time and in the presence of matched external disturbance input. To validate the efficacy of the controller, simulation results are presented based on a nonlinear, higher-order rotorcraft model operating in turbulence. True system convergence to the sliding manifold from an untrimmed state is shown to lie within the theoretically predicted finite-time convergence bound. Furthermore, simulations with a linear quadratic flight controller are also presented for performance comparison with the proposed super-twisting flight controller.
Highlights
There is renewed interest in both manned and unmanned rotorcraft
Advances in electric/hybrid propulsion have led to a surge of new vertical take-off and landing (VTOL) prototypes aimed at commercial passenger operations
Likewise, unmanned rotorcraft are increasingly used in aerial logistics and allied missions (See recent statistics for unmanned aircraft systems in the United States: www.faa.gov/uas/resources/by_the_numbers/).In the context of military missions, future high-speed VTOL aircraft are expected to impose new flight dynamic response requirements in the high-speed regime [3], representing a significant evolution and departure from conventional helicopter handling qualities requirements [4]
Summary
There is renewed interest in both manned and unmanned rotorcraft. Advances in electric/hybrid propulsion have led to a surge of new vertical take-off and landing (VTOL) prototypes aimed at commercial passenger operations. Likewise, unmanned rotorcraft are increasingly used in aerial logistics and allied missions (See recent statistics for unmanned aircraft systems in the United States: www.faa.gov/uas/resources/by_the_numbers/ (accessed on 27 October 2021)).In the context of military missions, future high-speed VTOL aircraft are expected to impose new flight dynamic response requirements in the high-speed regime [3], representing a significant evolution and departure from conventional helicopter handling qualities requirements [4]. Flight dynamic models employed for controller synthesis in both conventional and unconventional configurations inherently include varying levels of uncertainty that cannot be fully characterized. These challenges will have to be overcome through innovative solutions to simplify piloting tasks and enable safe autonomous flight
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