Abstract
This paper presents a novel design of adaptive super-twisting sliding mode controller for two-axis helicopter with model uncertainties. The high-order super-twisting sliding mode control strategy is used to guarantee that the sliding surface can reach the equilibrium point in a shorter time and to avoid the chattering problem. The adaptive control algorithm has been developed based on Lyapunov theory to estimate the unknown parameters of 2-degree-of-freedom helicopter such that the global stability of the controlled system based on adaptive super-twisting sliding mode is guaranteed. A comparison study between conventional and adaptive super-twisting sliding mode controllers is made and the effectiveness of the proposed scheme is verified via computer simulation.
Highlights
Nowadays, aerial robots are used in different military and civilian applications, such as border patrolling, geological surveying, traffic monitoring and surveillance, search and rescue, reconnaissance missions, environment exploration, area mapping and structure inspection and aerial cinematography, in which risks to pilots are often high
To cope with this variation of parameters, an adaptive control algorithm based on super-twisting sliding mode control has been developed and detailed design of this adaptive control strategy is performed to 2-DOF helicopter system
An adaptive super-twisting sliding mode control method is developed for the trajectory tracking and estimation of unknown parameters of 2-DOF helicopter
Summary
Aerial robots are used in different military and civilian applications, such as border patrolling, geological surveying, traffic monitoring and surveillance, search and rescue, reconnaissance missions, environment exploration, area mapping and structure inspection and aerial cinematography, in which risks to pilots are often high. Ahmed et al. presented a robust control algorithm based on a super-twisting 2-sliding mode control (2-SMC) to cope with uncertainty in center of gravity (COG) of 2-DOF helicopter due to variation of mass distribution. The motivation behind this study is that the 2-DOF helicopter system is normally subjected to many uncertainties in parameters due to inexact modeling, variation of mass or environmental conditions To cope with this variation of parameters, an adaptive control algorithm based on super-twisting sliding mode control has been developed and detailed design of this adaptive control strategy is performed to 2-DOF helicopter system. Based on the above stability analysis, one can note that the upper bounds of uncertainties are a perquisite to guarantee the asymptotic stability of helicopter system controlled by super-twisting SMC To address this problem and avoid the need of upper bounds of uncertainties, the adaptive scheme of supertwisting SMC is proposed. Substituting equation [41] into equation [10], and equation [42] into equation [11], the following is obtained
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