A Differential Algebraic Approach to the Dynamical Sliding Mode Control of an Aircraft

• Main Authors: Huang, Chien-Shiun, 黃建勛
• Other Authors: King Yuan
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/90850711666505274588

碩士 === 國立臺灣大學 === 機械工程學系研究所 === 86 === This thesis deals with the dynamical sliding mode control of an aircraft using the Fliess' Generalized Observability Canonical form (GOCF). For affine nonlinear systems with outputs, the Fliess' GOCF can be obtained by means of a state elimination algorithm proposed by ver der Shaft, relying on the implicit function theorem. In this nonlinear input-output differential setting, the possibility of using dynamical sliding mode controller arises naturally. Since the discontinuities are confined to the highest derivative of the control inqut, the output signal of the dynamical sliding mode controller is continuous. If the system is minimum phase, an asymptotic (or even perfect) output tracking can be achieved with a high level of smoothness in the system responses, as well as a substantially reduced chattering in the control inputs. Despite of its numerous attractive features over the traditional discontinuous sliding mode control and the non-robust feedback linearizing control, the dynamical sliding mode approach has been applied only to SISO systems up to now. In this thesis, an attempt was made for the first time to apply the dynamical sliding mode approach to the MIMO flight control problem of an aircraft. Numerical simulations of a roll maneuver are included to illustrate the benefit of the proposed dynamical sliding mode controller.