Chattering-free sliding mode control with unidirectional auxiliary surfaces for miniature helicopters

Purpose – This article proposes a chattering‐free sliding mode control scheme with unidirectional auxiliary surfaces (UAS‐SMC) for small miniature autonomous helicopters (Trex 250).Design/methodology/approach – The proposed UAS‐SMC scheme consists of a nested sequence of rotor dynamics, angular rate, Euler angle, velocity and position loops.Findings – It is demonstrated that the UAS‐SMC strategy can eliminate the chattering phenomenon exhibiting in the convenient SMC method and achieve a better approaching speed.Originality/value – The proposed control strategy is implemented on the helicopter and flight tests clearly demonstrate that a much better performance could be achieved, compared with convenient SMC schemes.

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