HeliPresoSMC ICET

Problem Dention Mathematical Modelling Open Loop Analysis Nonlinear Analysis SMC of Helicopter CCP Control
Robust Altitude Tracking of a Helicopter using Sliding Mode Control Structure

Yasir Awais Butt & Aamer Iqbal Bhatti
Muhammad Ali Jinnah University, Islamabad, Pakistan Control and Signal Processing Research Group
Control and Signal Processing Research Group
Outline
1 Problem Dention 2 Mathematical Modelling 3 Open Loop Analysis 4 Nonlinear Analysis 5 SMC of Helicopter 6 CCP Control 7 CAS Control 8 Vertical Takeo 9 Questions
Introduction and Problem Denition
Motivation
Motivation
Rotory wing ight is fascinating Challenging platform for nonlinear analysis Development of practical application based on theoretical
results is possible
Growing interest and increased use of small model helicopters
for applications that do not warrant use of a full scale helicopter or where piloted ight is dangerous
Extensive work on Sliding Mode by CASPR on Automotive
application
Multiagent / formation ight of helicopters is current research
problem being investigated by many universities
Problem Denition
Autonomous ight was second major objective to be achieved Nonlinear analysis of complete helicopter model is dicult due
to model complexity
Reduce 6 DOF model to 1 DOF model to analyze the heave
dynamics
Design and analyse performance of sliding mode controller for
helicopter heave dyanmics
Mathematical Modelling
Thrust Generating Mechanism
Figure : Rotor feathering motion and its role in manueverability of helicopter
Helicopter Heave Dynamics Model

Ref:J. Kaloust C.Ham Z.Qu, Nonlinear autopilot control design for a 2 DOF helicopter model, lEEE Proceedings of Control Theory Application, Vol. 144, No.6, November 1997, pp 612-616 x1 = x2 2 2 x2 = a0 + a1 x2 + a2 x2 + (a3 + a4 x4 a5 + a6 x4 )x3
2 x3 = a7 + a8 x3 + [a9 sin(x4 ) + a10 ]x3 + u1
x4 = x5
2 x5 = a11 + a12 x4 + a13 x3 sin(x4 ) + a14 x4 + u2 x = [ z z c c ]T
u = [ u1 u2 ]T Where u1 is the throttle input and u2 is the collective pitch input

Control and Signal Processing Research Group Yasir Awais Butt & Aamer Iqbal Bhatti
Open Loop Analysis
Open Loop Response Initial Condition Alone
With Constant Throttle Input
Nonlinear Analysis and Design
Lyapunov Stability Analysis

Designing u1 and u2 :x1 x2 a2 3 2 x2 x2 x4 a7 a9 sin(x5 )x4 ) x4 x4 2 u2 = (x5 a11 a12 x5 a13 x4 sin(x5 )) u1 = ( V now becomes: V
2 2 2 2 = k1 x1 + a1 x2 + a8 x4 + a14 x6
Control Lyapunov Function (Regulator Problem)
Figure : Response of System with Control Lyapunov Function and Zero Ref Input
Sliding Mode Control of Heave Dynamics of Helicopter
Sliding Mode Tracking Dynamics
Consider x = x xd where x is the original state and xd is the
desired state.
Sliding surface is given as: -
s = x1 + x2 + + xn s = c1 (x1 xd ) + c2 (x2 x2d ) + + (xn xnd ) s = c1 (x1 xd ) + c2 (x2 x2d ) + + (xn xnd ) Ref:Applied Nonlinear Control Chap 7 - Slotine
Sliding Mode Tracking Dynamics
Figure : Sliding Surfaces Comparison
Peculiarities - Tracking Dynamics for Helicopter
Dont need to track all the states For hovering only vertical position is to be tracked Vertical velocity at hovering is zero Rotor angular speed and collective pitch is to be variable to
reject disturbances
Two inputs, therefore two sliding surfaces
Methodology
Hovering control with constant collective pitch (CCP) Hovering control with constant rotor angular speed (CAV) Vertical takeo and hovering using multiple sliding surfaces
Control with Constant Collective Pitch
Simplied Model
Assumption
Collective Pitch x4 = 0.122rad Pitch Rate x5 = 0
Reduced Problem - Hovering by throttle control
x1 = x2 2 2 x2 = f2 = a0 + a1 x2 + a2 x2 + (a3 + a4 x4 a5 + a6 x4 )x3 2 +u x3 = f3 + u1 = a7 + a8 x3 + [a9 sin x4 + a10 ]x3 1
Sliding Surface Design

Sliding Surface
s = x3 + c2 x2 + c1 x1 s = x3 + c2 x2 + c1 x 1 = x3 + c2 x2 + c1 x1
Equivalent control
ueq = f3 c2 f2 c1 x2 Ksign(s)
Reachability
Lyapunov Method
1 V = s2 2 V = s s = K | s |
Finite Time Convergence

Global Convergence
Perruquetti, W.; Barbot, J.P. (2002). Sliding Mode Control in Engineering. If V V where > 0 and 0 < 1, then the system is globally nite time convergent. In this system: V = s s = K | s |= 2Ksign(s) V Hence global convergence condition is not satised.

Sarah SPURGEON, Finite time convergent control using terminal sliding mode, Journal of Control Theory and Applications (2004) Suppose s(0) = x3 + c2 x2 + c1 x1 > 0, the system converges to the sliding surface in nite time, if, T > 0 such that s(T ) = 0.
2
x3 = Ksign(s) ci fi
i=1
Integrating both sides.

t 0 t 2
dx3 =
0 2
(Ksign(s) ci fi )dt
i=1 2 i=1
x3 (t) = Kt ci xi (t) + ci xi (0) + x3 (0)

i=1

Now x3 (t) 0 ensures that trajectories do reach the sliding surface. Lets calculate time to reach surface: t
2 2 x3 (0) ci xi (t) + ci xi (0) K i=1 i=1
Finite Time Convergence Condition

2 2 i=1
x3 (0) > K
i=1
ci xi (t) K
ci xi (0)
Thus T > 0 for which trajectories converge to sliding surface i above condition is satised. Result can be generalized for xn for the trivial sliding surface used ordinarily.
Matched Disturbance Rejection

A miniature helicopter is particularly susceptible to disturbance such as wind gusts, weight changes etc that may enter the system in ane or non-ane manner. Consider an ane disturbance for constant rotor angular speed. x1 = f1 = x2 2 2 x2 = f2 = a0 + a1 x2 + a2 x2 + (a3 + a4 a5 + a6 )x3
2 x3 = f3 + u1 = a7 + a8 x3 + [a9 sin x4 + a10 ]x3 + u1 +
(1)
We calculate the bound of this disturbance through Lyapunov approach. Consider again Lyapunov function (12). V = K |s| + s
Hovering at 100m
Hovering at 1000m
Hovering at 100m - Collective Pitch 0.22rad
Matched Disturbance
Tracking Time Varying Trajectory

Sine wave tracking, Amplitude 20, Frequency 5rad/sec, Oset 100

Sine wave tracking, Amplitude 5, Frequency 0.5rad/sec, Oset 100

Sine wave tracking, Amplitude 5, Frequency 5Hz, Oset 100
Control with Constant Angular Speed
Simplied Model
Assumption
Main rotor angular velocity x3 = 100rad/sec Main rotor angular acceleration x3 = 0
Reduced Problem - Hovering by collective pitch control
x1 = x2 2 2 x2 = f2 = a0 + a1 x2 + a2 x2 + (a3 + a4 x4 a5 + a6 x4 )x3 x4 = x5 2 x5 = f5 + u2 = a11 + a12 x4 + a13 x3 sin(x4 ) + a14 x4 + u2
Sliding Surface Design
Sliding Surface
s = x5 + c4 x4 + c2 x2 + c1 x1 s = x5 + c4 x4 + c2 x2 + c1 x 1 = x5 + c4 x4 + c2 x2 + c1 x1
Equivalent control
ueq = f5 c2 f2 c4 x5 c1 x2 Ksign(s)
Hovering at 100m via Collective Pitch Control
Control Eort
Vertical Takeo
Helicopter Takeo Theory
Helicopter Takeo Strategy
Takeo and Hovering
Rotor Angular Speed and Control Eort
Questions

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Problem Dention Mathematical Modelling Open Loop Analysis Nonlinear Analysis SMC of Helicopter CCP Control

Robust Altitude Tracking of a Helicopter using Sliding Mode Control Structure

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Introduction and Problem Denition

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

problem being investigated by many universities

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

helicopter heave dyanmics

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Thrust Generating Mechanism

Figure : Rotor feathering motion and its role in manueverability of helicopter

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Helicopter Heave Dynamics Model

u = [ u1 u2 ]T Where u1 is the throttle input and u2 is the collective pitch input

Open Loop Analysis

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Open Loop Response Initial Condition Alone

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

With Constant Throttle Input

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Nonlinear Analysis and Design

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Lyapunov Stability Analysis

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Control Lyapunov Function (Regulator Problem)

Sliding Mode Control of Heave Dynamics of Helicopter

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Sliding Mode Tracking Dynamics

Consider x = x xd where x is the original state and xd is the

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Sliding Mode Tracking Dynamics

Figure : Sliding Surfaces Comparison

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Peculiarities - Tracking Dynamics for Helicopter

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Control with Constant Collective Pitch

Control and Signal Processing Research Group

Yasir Awais Butt & Aamer Iqbal Bhatti

Reduced Problem - Hovering by throttle control

x1 = x2 2 2 x2 = f2 = a0 + a1 x2 + a2 x2 + (a3 + a4 x4 a5 + a6 x4 )x3 2 +u x3 = f3 + u1 = a7 + a8 x3 + [a9 sin x4 + a10 ]x3 1