A New Optimal Control Algorithm for Quad-rotor Helicopter with State Constraints via Sliding-mode Control

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, Jiangsu, China

^* Corresponding author: ppyang@nuaa.edu.cn

Abstract

This paper proposes a strategy of a new optimal sliding-mode control for flight control system with state constraints so that the system guarantees the optimal performance index. Besides, the strategy ensures strong robustness to the internal parametric uncertainty and the external disturbances. In order to have fast transient response speed as well as good tracking accuracy, the integral of the time multiplied by the absolute displacement tracking error is introduced as the performance index. By analyzing the state constraints which are specifically the velocity tracking error constraint and the acceleration tracking error constraint, and the performance index, the parameters of sliding-mode surface and control law are obtained. Finally, the authors conduct the semi physical simulation on Qball-X4 quad-rotor helicopter, showing the effectiveness of the proposed strategy.