Research Article
Autonomous Trajectory Tracking Control for a Large-Scale Unmanned Helicopter under Airflow Influence
Table 3
PID and SMC gains used in the HIL simulation test.
| Channels and Trim | Gains | Values | Gains | Values | | |
| | | Inner loop | | | | | Roll Channel | | 0.6 | | 0.27 | | | Yaw Channel | | 0.7 | | 0.6 | | | Pitch Channel | | 1.0 | | 0.42 | | | | | Outer loop | | | | | Position controller | | 0.4 | | 0.4 | | 0.3 | | | 1 | | 1 | | 1 | Velocity controller | | 1 | | 1 | | 1.5 | | | 0.1 | | 0.1 | | 0.1 |
|
|