Robust Helicopter Sliding Mode Control for Enhanced Handling and Trajectory Following

Halbe, Omkar; Hajek, Manfred

doi:10.2514/1.g005183

Cited by 24 publications

(9 citation statements)

References 35 publications

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“…Further, 𝑨, 𝑩 are matrices containing the stability and control derivatives, respectively, and 𝑪 is the output matrix. Stability analysis of this linear state-space model shows that the phugoid mode is unstable, the Dutch roll mode is stable but has low damping with a variable period, and the high frequency rotor lead-lag mode has very low damping [63]. These flight characteristics make the piloting of the BO-105 helicopter difficult.…”

Section: 𝒙̇= 𝑨𝒙(𝒕) + 𝑩𝒖(𝒕) 𝒚 = 𝑪𝒙(𝒕)mentioning

confidence: 99%

Piloted Simulation of Helicopter Shipboard Recovery with Visual and Control Augmentation

Mehling

Halbe

Gasparac

et al. 2021

AIAA Scitech 2021 Forum

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Shipboard launch and recovery of helicopters continue to pose operational challenges even for experienced pilots. The factors affecting pilot workload include unsteady ship motion, the influence of ship air wakes on helicopters, insufficient visual cues, and adverse weather conditions. The goal of the current research is to investigate novel visual and control augmentation techniques and evaluate their impact on pilot workload and handling qualities for shipboard recovery operations. This paper first outlines a helicopter-ship dynamic interface model developed and integrated into our existing rotorcraft simulation environment (ROSIE). It then describes a visual augmentation concept using a see-through helmet-mounted display (HMD) system for enhancing the pilot's visual cueing environment during the shipboard approach and landing tasks. Next, it describes the synthesis of robust nonlinear control laws for achieving advanced helicopter response types with predicted Level 1 handling qualities. Lastly, the paper reports the results of simulation tests of maritime mission task elements by four experimental test pilots with different levels of augmentation and under different environmental conditions. Results on navigation performance, workload indices, and handling quality ratings indicate a decreased workload and improved handling qualities to almost Level 1 with the assistance of the visual and control augmentation system. Moreover, all piltos stated a higher situational awareness while operating in degraded visual environment conditions using visual and control augmentation.

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Section: 𝒙̇= 𝑨𝒙(𝒕) + 𝑩𝒖(𝒕) 𝒚 = 𝑪𝒙(𝒕)mentioning

confidence: 99%

Piloted Simulation of Helicopter Shipboard Recovery with Visual and Control Augmentation

Mehling

Halbe

Gasparac

et al. 2021

AIAA Scitech 2021 Forum

View full text Add to dashboard Cite

show abstract

“…The response requirement implies that the system states must converge and obey the closed-loop behavior specified in Equations ( 3)-( 6). This requirement motivates the choice of the sliding variable, since by definition the sliding variable shall represent a stable manifold in the system's state space [17,20]:…”

Section: Sliding Manifoldmentioning

confidence: 99%

“…In contrast to conventional pseudo-SMC flight controllers in References [14][15][16][17][18], a fixed-time disturbance observer-based first-order terminal SMC flight controller in Reference [9], and an input-decoupled SOSM flight controller and observer in Reference [20], this section synthesizes a multivariable, finite-time-convergent, super-twisting flight controller (STFC) for the helicopter plant that stabilizes both σ and σ about the origin. Aside from obviating the need to estimate σ, the multivariable STFC ensures that all sliding variables simultaneously converge to zero in finite time.…”

Section: Multivariable Finite-time Super-twisting Flight Controllermentioning

confidence: 99%

“…Such a pseudo-SMC approach, however, degrades the desirable robustness properties of the original SMC, since the linear approximation inside the boundary layer is no longer completely robust to uncertainties [13]. Pseudo-sliding mode controllers based on the boundary layer concept have been developed and studied for rotorcraft flight control applications with good results in References [8,[14][15][16][17][18].…”

Section: Introductionmentioning

confidence: 99%

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A Continuous Multivariable Finite-Time Super-Twisting Attitude and Rate Controller for Improved Rotorcraft Handling

Halbe

Hajek

2021

Aerospace

Self Cite

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This paper synthesizes a continuous, multivariable, finite-time-convergent, super-twisting attitude and rate controller for rotorcraft with the objective of providing desired handling qualities and robustness characteristics. A sliding manifold is defined in the system state space to represent ideal attitude and rate command response dynamics of relative degree one with respect to the command input. Subsequently, robust command tracking is achieved via the synthesis of a multivariable super-twisting flight controller, which renders the plant states convergent on to the defined sliding manifold in finite-time and in the presence of matched external disturbance input. To validate the efficacy of the controller, simulation results are presented based on a nonlinear, higher-order rotorcraft model operating in turbulence. True system convergence to the sliding manifold from an untrimmed state is shown to lie within the theoretically predicted finite-time convergence bound. Furthermore, simulations with a linear quadratic flight controller are also presented for performance comparison with the proposed super-twisting flight controller.

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“…Other methods, such as nonlinear inverse dynamics [9], including feedback linearisation [11], adaptive control [12] and sliding mode controllers [13], have also been applied with moderate success.…”

Section: Introductionmentioning

confidence: 99%

Optimised Tuning of a PID-Based Flight Controller for a Medium-Scale Rotorcraft

Mpanza

Pedro

2021

Algorithms

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This paper presents the parameter optimisation of the flight control system of a singlerotor medium-scale rotorcraft. The six degrees-of-freedom (DOF) nonlinear mathematical model of the rotorcraft is developed. This model is then used to develop proportional–integral–derivative (PID)-based controllers. Since the majority of PID controllers installed in industry are poorly tuned, this paper presents a comparison of the optimised tuning of the flight controller parameters using particle swarm optimisation (PSO), genetic algorithm (GA), ant colony optimisation (ACO) and cuckoo search (CS) optimisation algorithms. The aim is to find the best PID parameters that minimise the specified objective function. Two trim conditions are investigated, i.e., hover and 10 m/s forward flight. The four algorithms performed better than manual tuning of the PID controllers. It was found, through numerical simulation, that the ACO algorithm converges the fastest and finds the best gains for the selected objective function in hover trim conditions. However, for 10 m/s forward flight trim, the GA algorithm was found to be the best. Both the tuned flight controllers managed to reject a gust wind of up to 5 m/s in the lateral axis in hover and in forward flight.

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Robust Helicopter Sliding Mode Control for Enhanced Handling and Trajectory Following

Cited by 24 publications

References 35 publications

Piloted Simulation of Helicopter Shipboard Recovery with Visual and Control Augmentation

Piloted Simulation of Helicopter Shipboard Recovery with Visual and Control Augmentation

A Continuous Multivariable Finite-Time Super-Twisting Attitude and Rate Controller for Improved Rotorcraft Handling

Optimised Tuning of a PID-Based Flight Controller for a Medium-Scale Rotorcraft

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