Tracking Control of Helicopter Using Constant Plus Proportional Reaching Law with Disturbances

Abstract

This paper describes the tracking of flight height andpitch angle of a helicopter model using output feedbackcontroller. A sliding mode control (SMC) methodology based onfeedback linearization and constant plus proportional reachinglaw is used. The sliding mode control method is robust withdisturbances. The mathematical model of helicopter is simplifiedby using dynamic inversion uncoupling linearization. The controllaw based on reaching law is designed to achieve the desiredobjectives. The tracking performance demonstrated insimulation results.