To facilitate the nonlinear controller design, dynamic model of a novel coaxial unmanned helicopter (UH) is established and its coupling analysis is presented.
The chattering-free sliding mode controller (SMC) with unidirectional auxiliary surfaces (UASs) is designed and implemented for the coaxial ducted fan UH.
The coupling analysis based on the established model show severe coupling between channels. For coaxial UH’s special model structure, UAS-SMC controller is proposed to reduce the coupling characteristics between channels of the UH by setting controllers’ output calculation sequence.
The flight control law and control logic are successfully tested in numerical simulation and hardware in the loop (HIL) simulation. The results show best hovering performances without chattering problem, even under the bounded internal dynamics and external disturbances.
