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In this paper, the attitude control of a small-scale helicopter is investigated. The main rotor flapping dynamics is explicitly explored to improve the control performance. A two-layer control architecture is adopted: the inner loop controller is designed combining second-order sliding mode control with extended state observer to control the angular rates and yield good robustness properties with...
A robust and nonlinear attitude control framework for a small-scale unmanned helicopter is presented. The framework contains a sliding mode roll and pitch controller and an extended state observer(ESO). The proposed sliding mode technique is adopted to derive the control law, and the extended state observer is applied to estimate the neglected items and external disturbances. Together with these two...
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...
In this paper, a robust sliding-mode controller is proposed for a small-scale helicopter. The controller is designed by sliding-mode concept combining with an extended state observer. Sliding mode technique is adopted to derive the control law, and the extended state observer is applied to estimate the neglected items and disturbances. Together with these two approaches, attitude controller is designed...
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