無人直升機有別於固定翼之無人飛機，不需要大型平整跑道提供起降，且由於直升機具備定點停懸之獨特能力，較一般固定翼無人飛機更適合空中偵查、 交通監控、以及環境監測等任務。本文的研究目的是在於運用滑動模式控制理論在無人直升機系統上之自主停懸的控制器設計與飛測驗證。
在過去幾十年間滑動模式控制理論已在強健控制領域上被廣泛的注意。這些良好的特性是建立在所謂的理想滑動模式上，而此滑動模式是藉由一種不連續的訊號控制所達成。然而，由於實際的物理限制，在瞬間無限的快速切換訊號控制是難以被實現且會導致非期望的控制結果。其中雙滑動模式控制器的設計理念是將分離成兩條比例積分微分型滑動面，可降低系統狀態的軌跡產生顫抖現象，並提升控制器的響應，而且，由於新的無顫抖型雙滑動模式控制器的簡單組成，應用在實務時也不會造成使用者實用的困擾。為了顯示雙滑動模式控制器可提高系統的性能，本文開發一個實驗的無人直升機系統平台去評估控制器的性能。在模擬數據分析得知雙滑動模式控制器不僅追蹤誤差比較小，而且誤差收斂速度比傳統的滑動模式控制器快，因此，電腦模擬和實際飛行測試也成功驗證了無人直升機系統的橫向和縱向控制器。最後本文也經由實際飛行測試資料結果顯示飛測與模擬結果是符合的。

Unmanned helicopter has been demanding for certain applications due to its unique flight capability. The unmanned helicopter can take off and land within a limited space and it can hover and cruise at a very low speed. The autonomous hovering is one of the most significant flight maneuvering conditions for an unmanned helicopter and offers an unmanned helicopter a wide variety of applications. Thus, an autonomous hovering controller design based on sliding mode control (SMC) theory and its flight test verification for a small-scaled unmanned helicopter system are presented in this study.
Owing to its unique properties, SMC theory has attracted a wide attention in the robust control field and these features are based on the existence of the so-called ideal sliding mode, which is achieved with the aid of discontinuous control. However, due to its physical limitations, the infinitely fast switching is difficult to be realized and may lead to undesirable control results. Thus, the twin sliding mode controller (TSMC) is designed with two separate proportional-integral-derivative boundary surfaces in order to reduce the chattering and improve the controllers' responses. Due to the simplicity of the TSMC structure, the proposed TSMC will cause no difficulty for users to realize it practically. In order to show how the TSMC may improve the system performance, this study develops an experimental unmanned helicopter system test-bed to assess the performance of the proposed controller. The simulation results of this work has validated that the tracking error of the TSMC is not only smaller but also converges quicker than the conventional SMC. Unlike the conventional SMC method, the proposed TSMC is capable of achieving the desired control qualities and the tracking performance. As shown in the flight test results, the 2-distance-root-mean-squared (2DRMS) position error is less than 5m. The flight test results are presented in the dissertation and they are found to be consistent with the simulation results.

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