A composite control law for stabilizing a small-scale helicopter during hover flight mode is proposed in this paper. The proposed method is developed by combining the sliding mode control (SMC) and a nonlinear control law. Parameters of the proposed controller are optimized using particle swarm optimization technique. The SMC ensures robustness under disturbances and parameter uncertainties, while the nonlinear control law improves the transient response of the closed-loop system. Adequacy of the combination of the sliding mode controller and the nonlinear control law is validated using mathematical analysis and simulation experiments. The results illustrate an efficient execution of the proposed controller to stabilize the system by reducing the deviations from the trim state and alleviating the effect of disturbance in the closed-loop response.

提出了一种小型直升机在悬停飞行模式下稳定的复合控制律。所提出的方法是通过结合滑模控制 (SMC) 和非线性控制律而开发的。所提出的控制器的参数使用粒子群优化技术进行优化。SMC 确保在扰动和参数不确定性下的鲁棒性，而非线性控制律改善了闭环系统的瞬态响应。使用数学分析和仿真实验验证了滑模控制器与非线性控制律组合的充分性。结果表明，通过减少与调整状态的偏差和减轻闭环响应中的干扰影响，可以有效地执行所提出的控制器以稳定系统。