IJCAS

In this paper, a novel robust nonlinear tracking control scheme is proposed for the yaw channel of an unmanned-aerial-vehicle helicopter that is non-affine in the control input. By a novel dynamic modeling technique, the non-affine nonlinear systems are approximated to facilitate the desired control design. In the controller design procedure, the terminal sliding model control method is intro-duced to deal with the unknown uncertainties/disturbances. Moreover, filter and disturbance estimator are combined to further reduce the chattering. A systematic procedure is developed and related theo-retical and practical issues are discussed. The proposed nonlinear tracking control scheme can guaran-tee the asymptotic output tracking of the closed-loop control systems in spite of unknown uncertain-ties/disturbances. Finally, the simulation results on the dynamic model of a real helicopter-on-arm are provided to demonstrate the effectiveness of the proposed new control techniques.

Keywords: Non-affine nonlinear systems, nonlinear control, sliding mode control, unmanned-aerial-vehicle helicopter, yaw control.