Chaos control of small-scale UAV helicopter based on high order differential feedback controller

ABSTRACT

The small-scale unmanned aerial vehicle (UAV) helicopter has a complex structure, strong nonlinearity, coupling and open-loop instability, making it shake violently and even produce chaotic oscillation under wind disturbances and improper configuration. The chaotic angular velocity dynamic model of the UAV helicopter is analysed via two cases. The sliding mode controller (SMC) relying on the linearised model, the PID controller, and the high order differential feedback controller (HODFC) not relying on the model are designed. The closed-loop system stability under both SMC and HODFC are analysed. The HODFC with a control filtering can actively reject the disturbance and uncertainty. The control performance of HODFC is superior to SMC and PID controllers. The SMC and HODFC can stabilise the chaotic oscillations of UAV helicopter’s angular velocity, whereas the PID controller fails, and the HODFC control effect is superior to the SMC for disturbance rejection, uncertainty and linearisation bias in steady-state errors.

KEYWORDS:

• High order differential feedback controller (HODFC)
• sliding mode controller (SMC)
• helicopter angular velocity chaos
• chaos control
• UAV helicopter

Acknowledgments

This work is supported by the National Natural Science Foundation of China (61873186).

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work was supported by National Natural Science Foundation of China [grant number 61873186].