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In this paper, the application of sliding mode control for a small-scale helicopter was studied. The roll and pitch controller is designed based on a two-loop structure in which the inner-loop control law implements sliding mode control technique to track the reference angular rate and the outer-loop control law is designed to stabilize the attitude. To improve the robustness of the attitude controller...
In this paper, a robust adaptive sliding mode controller is proposed for a class of uncertain nonlinear multi-input multi-output (MIMO) systems. The upper bounds of the uncertainties are not needed in the procedure of the controller design, and the controller is continuous and guarantees the tracking error can converge to a small residual set. Furthermore, the size of the tracking error at steady...
In this paper, a robust sliding-mode controller is proposed for a small-scale helicopter. The controller is designed by sliding-mode concept combining with an extended state observer. Sliding mode technique is adopted to derive the control law, and the extended state observer is applied to estimate the neglected items and disturbances. Together with these two approaches, attitude controller is designed...
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