スライディングモード制御によるスタビレス産業用無人ヘリコプタの姿勢安定化

抄録

Conventional unmanned helicopters equip stabilizer-bar on the rotor system, and it is effective to slow the gust response of the unmanned helicopter. However, the stabilizer-bar has brought about an increase in complexity and inefficiency. To achieve energy efficiency and simplify the mechanism, it is necessary to remove the stabilizer bar. The problem with a stabilizer-less helicopter is that the off-axis response causes difficulty in control. In addition, robustness to changes in the total mass and moment of inertia during flight is also important. In this paper, attitude control of the stabilizer-less industrial unmanned helicopter based on sliding mode control was proposed. The reason for using sliding mode control is its high robustness to uncertainties. From the simulation results, we verified that the system was robust to the uncertainties in the total mass and moment of inertia.