Sliding mode control of a 2-DOF helicopter system with adaptive input compensation

Abstract

This paper considers the decoupling control problem of a two-degree-of-freedom (2-DOF) helicopter system with uncertainties and disturbances. The unknown input bias caused by the dynamical coupling is approximated by fuzzy neural networks. An adaptive sliding mode control (SMC) strategy is proposed to deal with the uncertainties and unknown disturbances on the system. By appropriately constructing the Lyapunov function, the stability of the controlled system is proved. Finally, the effectiveness and availability of the strategy are verified by numerical simulation.