ICUAS 2020 Paper Abstract

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Paper ThA4.1

B Krishna, Akhil (IIT Kanpur), Sen, Arijit (IIT Kanpur), Kothari, Mangal (Indian Institute of Technology Kanpur)

Robust Geometric Control of a Helicopter Using Sliding Mode Control

Scheduled for presentation during the Regular Session "Control Architectures IV" (ThA4), Thursday, September 3, 2020, 10:00−10:20, Naousa

2020 International Conference on Unmanned Aircraft Systems (ICUAS), September 1-4, 2020 (Postponed from June 9-12, 2020), Athens, Greece

This information is tentative and subject to change. Compiled on September 25, 2020

Keywords Airspace Control, UAS Applications

Abstract

This paper presents a robust attitude controller for a small-scale helicopter based on sliding mode control theory. The attitude dynamics is considered to be evolving on non Euclidean space to develop a globally defined controller. The attitude of fuselage is represented by the rotation matrix. An interconnected hybrid model of a helicopter is considered to be consisting of fuselage modeled as a single rigid body and rotor modeled as a disc whose flapping motion is represented by first order dynamics. It is assumed that an unknown disturbance is acting on the rotor. Sliding mode theory is employed to develop a robust controller assuming that the bound of external disturbance is known. The convergence of controller is shown by using Lyapunov theory. The performance of proposed approach is demonstrated through numerical simulations.

 

 

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