NDLI: Robust sliding-mode attitude controller design for a small-scale helicopter based on extended state observer

Content Provider	IEEE Xplore Digital Library
Author	Bin Zhou Shuai Tang Binwen Lu Zhiqiang Zheng
Copyright Year	2014
Description	Author affiliation: Coll. of Mechatron. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha, China (Bin Zhou; Shuai Tang; Binwen Lu; Zhiqiang Zheng)
Abstract	In this paper, the application of sliding mode control for a small-scale helicopter was studied. The roll and pitch controller is designed based on a two-loop structure in which the inner-loop control law implements sliding mode control technique to track the reference angular rate and the outer-loop control law is designed to stabilize the attitude. To improve the robustness of the attitude controller and to reduce the chattering in the sliding mode controller(SMC), an extended state observer(ESO) is designed to estimate the neglected items and external disturbances. In the simulations, we use a full six-DOF model to check whether the controller would work for the full small-scale helicopter system. Simulation results demonstrate the effectiveness and robustness of the proposed controller.
Starting Page	1612
Ending Page	1617
File Size	364554
Page Count	6
File Format	PDF
ISBN	9781479947003
e-ISBN	9781479946990
DOI	10.1109/CGNCC.2014.7007432
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-08
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Attitude control Blades Helicopters Sliding mode Rotors Observers Extended state observer Robustness Small-scale helicopter Sliding mode control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in