Autonomous Hovering of an Experimental Unmanned Helicopter System with Proportional-Integral Sliding Mode Control

Lin, Chien Hong; Jan, Shau-Shiun; Hsiao, Fei‐Bin

doi:10.1061/(asce)as.1943-5525.0000068

Cited by 17 publications

(17 citation statements)

References 14 publications

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“…The work presented in this paper extends the work presented in [19] to a wider range. The following novelties or contributions are presented in this paper.…”

supporting

confidence: 64%

“…Speaking of PISMC, Nawawi, Sam, and Osman have devoted themselves to the investigation of PISMC [15][16][17][18] since 2002. In 2011, Lin et al applied the PISMC to stabilize the attitude and position of a hovering unmanned helicopter [19]. Sam at al.…”

Section: Introductionmentioning

confidence: 99%

“…First, differently from the commonly known ISMC, PISMC, and PID sliding surface, which usually each have the sliding surface of s = k p e + k I edτ + k dė + k 1 e(0) + k 2ė (0) and five parameters or more to tune, our algorithm in [19] extends the sliding surface to the nth order derivative of the output error with only two parameters to tune. In [19], however, a system of unweighted control was considered. Based on the work in [19], this paper proposes the sufficient condition to design a control for a system of weighted control.…”

mentioning

confidence: 99%

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Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System

Lin

Hsiao

2020

Applied Sciences

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A balance control method, the proportional-integral sliding mode control (PISMC), is proposed to control the tilt attitude of an experimental two-wheel vehicle system (TWVS). Based on our previous work of implementing a generalized PISMC to control a linearized dynamical system, this paper extends the algorithm to a wider range: First, the control design of a weighted-control system is proposed. Secondly, our algorithm was realized and verified in a TWVS using its original nonlinear model. Thirdly, a systematical way to tune parameters are presented. The robustness of the proposed algorithm is also discussed in this paper. The simulation results of this work validate that the PISMC has better robustness to counteract the external disturbances than the conventional sliding mode control (SMC) does. Additionally, the experimental results show that the PISMC is capable of autonomously balancing the TWVS more effectively than the conventional SMC. The successful implementation of our algorithm potentially extends the implementation of the PISMC to various nonlinear and emerging systems.

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“…The work presented in this paper extends the work presented in [19] to a wider range. The following novelties or contributions are presented in this paper.…”

supporting

confidence: 64%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System

Lin

Hsiao

2020

Applied Sciences

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“…However, the maximum tracking error exceeded 15 degrees. In [15], results of an attitude holding experiment under hovering were proposed, and the maximum tracking error reached 5 degrees, although the maneuver is not aggressive. Compared with the existing results, the performances of the proposed robust controller are advanced.…”

Section: Test 6 Coupling Effectmentioning

confidence: 99%

“…In Xu [14], the dynamics of an unmanned helicopter was separated into three levels according to timescales, and a slide mode robust controller was proposed and evaluated through simulation. Lin et al designed a proportional integral sliding mode controller (PISMC) for an unmanned helicopter and tested its hovering performance by experiment [15]. Zheng et al designed a robust output regulation controller for a 3-DOF laboratory helicopter [16].…”

Section: Introductionmentioning

confidence: 99%

Aggressive Attitude Control of Unmanned Rotor Helicopters Using a Robust Controller

2014

J Intell Robot Syst

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In this paper a robust controller is proposed for unmanned helicopters. The mathematical model of the helicopter is a multi-input, multi-output (MIMO) system with nonlinearities, parameter uncertainties, coupling effects, and external disturbances. A novel robust controller, which includes a nominal controller and a robust compensator, is proposed for obtaining robust attitude tracking performance in pitch and roll channels, respectively. The nominal controller is designed to achieve desired tracking performance for the nominal model, and the robust compensator design is based on robust signal compensation technology for restraining the effects of external disturbances, parameter uncertainties, nonlinearities and couplings. The proposed controller is linear, time invariant, and easy to implement. The robust property of the system is analyzed. It is proved that robust attitude tracking performance can be achieved. Experiments were carried out on a prototype unmanned helicopter THeli260, which included simulation evaluation and flight test under aggressive maneuvers. The results of the experiment exhibit advanced performance of the robust controller.

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Vision‐Based Tracking and Position Estimation of Moving Targets for Unmanned Helicopter Systems

Lin

Hsiao

2013

Asian Journal of Control

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The primary goal of this study is to track a ground-moving target using a machine-vision system installed on an unmanned helicopter, and to estimate its position if the target becomes unobservable. The machine-vision system is accomplished using real-time color images obtained from a charge-coupled device (CCD) camera mounted on a computer-controlled gimbaled system that can pitch and yaw. To avoid real-time image-tracking failure resulting from a moving target becoming concealed, the Kalman filtering technique is applied to predict the target's follow-on position, so that the camera can continuously track the target. The entire system is initially tested on the ground and then mounted on a helicopter for in-flight testing. The following three cases are shown in the flight tests: (1) an uncovered static target; (2) a moving visible target; and (3) a target that moves in a straight line at a constant speed and becomes temporarily concealed. The vision-based tracking system with the developed algorithm is successfully applied in all three cases.

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Autonomous Hovering of an Experimental Unmanned Helicopter System with Proportional-Integral Sliding Mode Control

Cited by 17 publications

References 14 publications

Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System

Proportional-Integral Sliding Mode Control with an Application in the Balance Control of a Two-Wheel Vehicle System

Aggressive Attitude Control of Unmanned Rotor Helicopters Using a Robust Controller

Vision‐Based Tracking and Position Estimation of Moving Targets for Unmanned Helicopter Systems

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