Robust Navigation for an Autonomous Helicopter with Auxiliary Chattering-free Second Order Sliding Mode Control

Rolf Johansson, S. Vite-Medécigo, Ernesto Olguín-Díaz, Vicente Parra-Vega

Abstract

This paper presents a novel technic for autonomous flight and navigation control of AAVs, particularly useful for helicopters. Three servo-loop controller are introduced to yield stable robust regulation. The inner control loop is based on an LQR regulator designed over the linearized plant at hover to guarantee close-loop stability. The middle loop is a feedback linearization controller based on the close-loop linearized system to cope with the underactuated nature of the helicopter, by guaranteing an asymptotically stable zero dynamics. Finally the outer control loop enforces a tracking second-order sliding-mode for cartesian position and heading navigation outputs. The simplicity of this control proposal allows easier and intuitive guidelines to tune feedback gains while the chatteringfree sliding-mode fulfills basic robustness properties, ideal for this complex systems subject to external disturbances like wind gusts.

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Paper Citation


in Harvard Style

Johansson R., Vite-Medécigo S., Olguín-Díaz E. and Parra-Vega V. (2009). Robust Navigation for an Autonomous Helicopter with Auxiliary Chattering-free Second Order Sliding Mode Control . In Proceedings of the 3rd International Workshop on Intelligent Vehicle Controls & Intelligent Transportation Systems - Volume 1: Workshop IVC & ITS, (ICINCO 2009) ISBN 978-989-674-003-0, pages 47-56. DOI: 10.5220/0002265200470056


in Bibtex Style

@conference{workshop ivc & its09,
author={Rolf Johansson and S. Vite-Medécigo and Ernesto Olguín-Díaz and Vicente Parra-Vega},
title={Robust Navigation for an Autonomous Helicopter with Auxiliary Chattering-free Second Order Sliding Mode Control},
booktitle={Proceedings of the 3rd International Workshop on Intelligent Vehicle Controls & Intelligent Transportation Systems - Volume 1: Workshop IVC & ITS, (ICINCO 2009)},
year={2009},
pages={47-56},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002265200470056},
isbn={978-989-674-003-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 3rd International Workshop on Intelligent Vehicle Controls & Intelligent Transportation Systems - Volume 1: Workshop IVC & ITS, (ICINCO 2009)
TI - Robust Navigation for an Autonomous Helicopter with Auxiliary Chattering-free Second Order Sliding Mode Control
SN - 978-989-674-003-0
AU - Johansson R.
AU - Vite-Medécigo S.
AU - Olguín-Díaz E.
AU - Parra-Vega V.
PY - 2009
SP - 47
EP - 56
DO - 10.5220/0002265200470056