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首页> 外文会议>IEEE Chinese Guidance, Navigation and Control Conference >Robust sliding-mode attitude controller design for a small-scale helicopter based on extended state observer
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Robust sliding-mode attitude controller design for a small-scale helicopter based on extended state observer

机译：基于扩展状态观察者的小型直升机的鲁棒滑模姿态控制器设计

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In this paper, the application of sliding mode control for a small-scale helicopter was studied. The roll and pitch controller is designed based on a two-loop structure in which the inner-loop control law implements sliding mode control technique to track the reference angular rate and the outer-loop control law is designed to stabilize the attitude. To improve the robustness of the attitude controller and to reduce the chattering in the sliding mode controller(SMC), an extended state observer(ESO) is designed to estimate the neglected items and external disturbances. In the simulations, we use a full six-DOF model to check whether the controller would work for the full small-scale helicopter system. Simulation results demonstrate the effectiveness and robustness of the proposed controller.
机译：在本文中，研究了用于小尺寸直升机的滑模控制。 辊子和俯仰控制器基于双环结构设计，其中内环控制法实现滑动模式控制技术以跟踪参考角速率，并且外环控制法设计以稳定姿态。 为了提高姿态控制器的稳健性并减少滑模控制器（SMC）中的抖动，延长的状态观察器（ESO）旨在估计被忽略的物品和外部干扰。 在模拟中，我们使用完整的六型DOF模型来检查控制器是否适用于全部小型直升机系统。 仿真结果展示了所提出的控制器的有效性和鲁棒性。

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