Abstract
ABSTRACT The small-scale unmanned aerial vehicle (UAV) helicopter has a complex structure, strong nonlinearity, coupling and open-loop instability, making it shake violently and even produce chaotic oscillation under wind disturbances and improper configuration. The chaotic angular velocity dynamic model of the UAV helicopter is analysed via two cases. The sliding mode controller (SMC) relying on the linearised model, the PID controller, and the high order differential feedback controller (HODFC) not relying on the model are designed. The closed-loop system stability under both SMC and HODFC are analysed. The HODFC with a control filtering can actively reject the disturbance and uncertainty. The control performance of HODFC is superior to SMC and PID controllers. The SMC and HODFC can stabilise the chaotic oscillations of UAV helicopter’s angular velocity, whereas the PID controller fails, and the HODFC control effect is superior to the SMC for disturbance rejection, uncertainty and linearisation bias in steady-state errors.
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