Higher order sliding mode control structure for a scale model autonomous helicopter

Abstract

In this paper, a mixed robust feedback linearization with a robust higher order sliding mode control structure is applied to a small-size autonomous helicopter in hover. In the present work, a traditional sliding mode control is presented, the robustness of the controller in the context of stabilization, is analytically proved using Lyapunov approach. In order to reduce the chattering in sliding mode controller (SMC) we used the higher order sliding mode control algorithm (Twisting algorithm). Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.