Safe Flight Control of Unmanned Helicopter Under Forest Environment

doi:10.16183/j.cnki.jsjtu.2020.155

Abstract

Abstract:

Aimed at the limitations of altitude and attitude of the unmanned helicopter with disturbance in the forest environment, a safe tracking sliding mode flight control method is proposed. In order to avoid the threat of tree height faced by the unmanned helicopter and maintain the desired flying attitude, the altitude and attitude limits are considered for the unmanned helicopter, and the error performance transform function method is used to deal with these limits. Based on the backstepping method and the sliding mode method, a robust tracking control method is designed for the unmanned helicopter, and the convergence of all closed-loop system signals is proved by using the Lyapunov method. The simulation results verify the effectiveness of the designed safe control method on sliding mode flight.

Key words: unmanned helicopter, safe control, backstepping control, sliding mode control

CLC Number:

TP273

MEI Rong. Safe Flight Control of Unmanned Helicopter Under Forest Environment[J]. Journal of Shanghai Jiaotong University, 2020, 54(9): 994-999.

Figures/Tables 5

References 13

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