Synthesis and Piloted Evaluation of Advanced Rotorcraft Response Types Using Robust Sliding Mode Control

Abstract

Sliding mode control (SMC) is a promising technique for robust control synthesis with desirable properties. This paper describes the synthesis and piloted evaluation of advanced helicopter response types using the SMC technique. The required closed-loop response characteristics are specified as ideal, lower order, axial transfer functions that conform to predicted level 1 handling qualities. Two-loop, full-authority, output-tracking SMC laws are then synthesized to enforce the closed-loop performance and accurately track pilot commands. Analytical proofs for SMC gain tuning are given for the closed-loop performance to remain robust to unknown but bounded uncertainties in the input channels and the effects of rotor modes on closed-loop stability. The closed-loop eigenstructure is nearly identical to the specified closed-loop performance and has good modal decoupling. Furthermore, a frequency domain analysis with a nonlinear helicopter model shows good stability margins and disturbance rejection characteristics. Finally, the paper reports on simulation testing conducted with four experimental test pilots in a rotorcraft simulation environment. The simulation results indicate improved mission task performance and handling qualities ratings and a substantial reduction in pilot workload for the SMC-based advanced response types compared to the bare-airframe responses.