2-sliding mode based robust control for 2-DOF helicopter

Abstract

Mass distribution variations in helicopters cause significant adverse effects on helicopter flight. These variations are triggered by unwanted torques. These unwanted torques must be compensated for the sake of smooth and comfortable flight. This paper presents a robust control algorithm to overcome the fore-mentioned problem. The robust control algorithm is based on super twisting based 2-sliding mode control (2-SMC). This scheme offers the solution to cope with torques caused by perturbation in center of gravity (CG) and guarantees smooth flight. The idea has been successfully proven and verified by implementation on the 2-DOF helicopter.