Robust Sliding Mode Control Design for a 3-DOF Hover System

Abstract

In this paper, a nonlinear robust Sliding Mode Controller with Combinatorial Reaching Law (SMC-CRL) is designed to control and stabilize a 3-DOF hover system in the presence of external disturbances (moments and aerodynamic forces). The suggested sliding mode tracking control based on combinatorial reaching law approach ensure closed-loop signal convergence in finite time using Lyapunov analysis. Tracking reference trajectories shows the efficacy of the suggested control approach. By appropriately defining the parameter of the SMC-CRL, the system state variables converge towards the system origin in finite time. The system under the proposed control methods has been proved to be asymptotically stable.