The utility of MAVs (Micro-air vehicles) such as the one shown in this paper can be significantly enhanced if the flight control system can be made robust enough to accommodate different flight conditions and load configurations without the necessity of reprogramming the flight control computer or relying upon complex adaptive control laws. A candidate control system design methodology that can provide such a control law is Sliding Mode Control (SMC). A frequency-domain technique for the design of multi-input, multi-output sliding modes controllers is presented. Asymptotic observers are used to minimize the sensitivity of the sliding mode controller to parasitic dynamics such as actuation devices. The technique is applied to the control of a six-degree-of-freedom model of a small, generic, ducted fan micro-air vehicle linearized about a hover condition. The robustness of the sliding mode design is compared to that of a controller designed using gain-optimization techniques through a computer simulation of automated, slow-speed flight between pre-selected waypoints. The sliding mode design is shown to be superior robustness when variations in vehicle dynamics and actuator characteristics are introduced.
Frequency-domain sliding mode design technique applied to the control of a ducted fan micro-air vehicle
Gleitende Regelung im Frequenzbereich als Entwurfsverfahren für die Flugregelung eines Mikro-Luftfahrzeuges mit ummanteltem Propeller
Journal of the American Helicopter Society ; 49 , 4 ; 457-467
2004
11 Seiten, 20 Bilder, 1 Tabelle, 9 Quellen
Aufsatz (Zeitschrift)
Englisch
Frequency Domain-Based Pseudo-sliding Mode Flight Control Design
British Library Conference Proceedings | 2012
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