Multiloop State-Dependent Nonlinear Time-Varying Sliding Mode Control of Unmanned Small-Scale Helicopter

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Date

2020

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Sage Publications Ltd

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Organizational Unit
Airframe and Powerplant Maintenance
(2012)
The Atılım University Department of Airframe and Powerplant Maintenance has been offering Civil Aviation education in English since 2012. In an effort to provide the best level of education, ATILIM UNIVERSITY demonstrated its merit as a role model in Civil Aviation Education last year by being granted a SHY 147 certificate with the status of “Approved Aircraft Maintenance Training Institution” by the General Directorate of Civil Aviation. The SHY 147 is a certificate for Approved Aircraft Maintenance Training Institutions. It is granted to institutions where training programs have undergone inspection, and the quality of the education offered has been approved by the General Directorate of Civil Aviation. With our Civil Aviation Training Center at Esenboğa Airport (our hangar), and the two Cessna-337 planes with double piston engines both of which are fully operational, as well our Beechcraft C90 Kingait plaine with double Turboprop engines, Atılım University is an institution to offer hands-on technical training in civil aviation, and one that strives to take the education it offers to the extremes in terms of technology. The Atılım university Graduate School Department of Airframe and Powerplant Maintenance is a fully-equipped civil aviation school to complement its theoretical education with hands-on training using planes of various kinds. Even before their graduation, most of our students are hired in Turkey’s most prestigious institutions in such a rapidly-developing sector. We are looking forward to welcoming you at this modern and contemporary institution for your education in civil aviation.

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Abstract

Time delays, parameter uncertainties, and disturbances are the fundamental problems that hinder the stability and reduce dramatically the tracking performance of dynamical systems. In this paper, a new state-dependent nonlinear time-varying sliding mode control autopilot structure is proposed to cope with these dynamical and environmental complexities for an unmanned helicopter. The presented technique is based on freezing the nonlinear system equations on each time step and designing a controller using the frozen system model at this time step. The proposed method offers an improved performance in the presence of major disturbances and parameter uncertainties by adapting itself to possible dynamical varieties without a need of trimming the system on different operating conditions. Unlike the existing linear cascade autopilot structure, this study also proposes a nonlinear cascade state-dependent coefficient helicopter autopilot structure consisting of four separate nonlinear sub-systems. The proposed method is tested through the real time and PC-based simulations. To show the performance of the proposed robust method, it is also bench-marked against a linear sliding control control in PC-based simulations.

Description

Salamci, Metin Uymaz/0000-0002-6150-8014

Keywords

Sliding mode control, state-dependent Riccati equation, flight control, flight dynamics, nonlinear control

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Q4

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Volume

234

Issue

3

Start Page

585

End Page

606

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