Abstract
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.
Similar content being viewed by others
References
Baldini, A., Ciabattoni, L., Felicetti, R., Ferracuti, F., Freddi, A., Monteriù, A., Vaidyanathan, S.: Particle swarm optimization based sliding mode control design: application to a quadrotor vehicle. In: Applications of Sliding Mode Control in Science and Engineering, Springer, Cham,pp. 143–169 (2017). https://doi.org/10.1007/978-3-319-55598-0_7
Budiyono, A., Riyanto, B., Joelianto, E.: Intelligent unmanned systems: theory and applications, vol. 192, Springer, New York (2009). https://doi.org/10.1007/978-3-642-00264-9_3
Cai, G., Chen, B.M., Dong, X., Lee, T.H.: Design and implementation of a robust and nonlinear flight control system for an unmanned helicopter. Mechatronics 21(5), 803–820 (2011). https://doi.org/10.1016/j.mechatronics.2011.02.002
Cai, G., Chen, B.M., Lee, T.H.: An overview on development of miniature unmanned rotorcraft systems. Front. Electr. Electron. Eng. China 5(1), 1–14 (2010). https://doi.org/10.1007/s11460-009-0065-3
Chen, B.M., Lee, T.H., Peng, K., Venkataramanan, V.: Composite nonlinear feedback control for linear systems with input saturation: theory and an application. IEEE Trans. Autom. Control 48(3), 427–439 (2003). https://doi.org/10.1109/TAC.2003.809148
Duan, X., Yue, C., Liu, H., Guo, H., Zhang, F.: Attitude tracking control of small-scale unmanned helicopters using quaternion-based adaptive dynamic surface control. IEEE Access 9, 10153–10165 (2020). https://doi.org/10.1109/ACCESS.2020.3043363
Espinoza, E.S., Garcia, O., Lugo, I., Ordaz, P., Malo, A., Lozano, R.: Modeling and sliding mode control of a micro helicopter-airplane system. J. Intell. Rob. Syst. 73(1–4), 469–486 (2014). https://doi.org/10.1007/s10846-013-9891-x
Fallaha, C.J., Saad, M., Kanaan, H.Y., Al-Haddad, K.: Sliding-mode robot control with exponential reaching law. IEEE Trans. Industr. Electron. 58(2), 600–610 (2011). https://doi.org/10.1109/TIE.2010.2045995
Fang, X., Wu, A., Shang, Y., Dong, N.: A novel sliding mode controller for small-scale unmanned helicopters with mismatched disturbance. Nonlinear Dyn. 83(1–2), 1053–1068 (2016). https://doi.org/10.1007/s11071-015-2387-4
Ferrara, A., Utkin, V.: Sliding mode optimization in dynamic lti systems. J. Optim. Theory Appl. 115(3), 727–740 (2002). https://doi.org/10.1023/A:1021267517097
Friedland, B.: Control System Design: An Introduction to State-space Methods. Courier Corporation, North Chelmsford (2012)
Gadewadikar, J., Lewis, F., Subbarao, K., Chen, B.M.: Structured h-infinity command and control-loop design for unmanned helicopters. J. Guid. Control Dyn. 31(4), 1093–1102 (2008). https://doi.org/10.2514/1.31377
Gao, W., Hung, J.C.: Variable structure control of nonlinear systems: a new approach. IEEE Trans. Industr. Electron. 40(1), 45–55 (1993). https://doi.org/10.1109/41.184820
Gavrilets, V.: Dynamic model for a miniature aerobatic helicopter. In: Handbook of Unmanned Aerial Vehicles, Springer, Dordrecht, pp. 279–306 (2015). https://doi.org/10.1007/978-90-481-9707-1_54
Humaidi, A.J., Hasan, A.F.: Particle swarm optimization-based adaptive super-twisting sliding mode control design for 2-degree-of-freedom helicopter. Meas. Control 52(9–10), 1403–1419 (2019). https://doi.org/10.1177/0020294019866863
Jiang, T., Lin, D., Song, T.: Novel integral sliding mode control for small-scale unmanned helicopters. J. Franklin Inst. 356(5), 2668–2689 (2019). https://doi.org/10.1016/j.jfranklin.2019.01.035
Masajedi, P., Ghanbarzadeh, A.: Optimal controller designing based on linear quadratic regulator technique for an unmanned helicopter at hover with the presence of wind disturbance. Int. J. Dyn. Control 1(3), 214–222 (2013). https://doi.org/10.1007/s40435-013-0019-8
Padfield, G.D.: Helicopter Flight Dynamics, 2nd edn. Blackwell, Amsterdam (2007)
Pradana, W.A., Joelianto, E., Budiyono, A., Adiprawita, W.: Robust mimo \( h_\infty \) integral-backstepping pid controller for hovering control of unmanned model helicopter. J. Aerosp. Eng. 24(4), 454–462 (2011). https://doi.org/10.1061/(ASCE)AS.1943-5525.0000074
Raj, N., Banavar, R.N., Kothari, M., et al.: Robust attitude tracking for aerobatic helicopters: a geometric approach. IEEE Trans. Control Syst. Technol. 29(1), 150–164 (2020). https://doi.org/10.1109/TCST.2020.2969124
Thomas, F., Mija, S.: Modelling of hovering helicopter and its stability analysis using participation factor. IFAC-Papers 51(1), 504–511 (2018). https://doi.org/10.1016/j.ifacol.2018.05.085
Tijani, I.B., Akmeliawati, R., Legowo, A., Budiyono, A.: Optimization of an extended h-infinity controller for unmanned helicopter control using multiobjective differential evolution (mode). Aircraft Eng. Aerosp. Technol. Int. J. 87(4), 330–344 (2015). https://doi.org/10.1108/AEAT-05-2012-0068
Varghese, A.T., Mija, S.: Sliding mode control based design for a 6-dof miniature helicopter in hovering flight mode. In: 2019 IEEE 5th International Conference on Mechatronics System and Robots (ICMSR), IEEE, pp. 59–63 (2019). https://doi.org/10.1109/ICMSR.2019.8835471
Vazquez-Nicolas, J., Zamora, E., González-Hernández, I., Lozano, R., Sossa, H.: Pd+ smc quadrotor control for altitude and crack recognition using deep learning. Int. J. Control Autom. Syst. 18(4), 834–844 (2020). https://doi.org/10.1007/s12555-018-0852-9
Wang, D., Tan, D., Liu, L.: Particle swarm optimization algorithm: an overview. Soft. Comput. 22(2), 387–408 (2018). https://doi.org/10.1007/s00500-016-2474-6
Zheng, Z., Sun, W., Chen, H., Yeow, J.T.: Integral sliding mode based optimal composite nonlinear feedback control for a class of systems. Control Theory Technol. 12(2), 139–146 (2014). https://doi.org/10.1007/s11768-014-0022-4
Author information
Authors and Affiliations
Corresponding author
Additional information
Communicated by Mauro Pontani.
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
About this article
Cite this article
Thomas, F., Thottungal, A.V. & Johnson, M.S. Composite Control of a Hovering Helicopter Based on Optimized Sliding Mode Control. J Optim Theory Appl 191, 756–775 (2021). https://doi.org/10.1007/s10957-021-01901-3
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10957-021-01901-3