Global non-homogeneous Quasi-continuous controller for a 3-DOF helicopter

This paper presents a practical design approach to the stabilization of a three degrees of freedom helicopter. In this paper the global non homogeneous Quasi-continuous controller is presented in order to preserve high position regulation accuracy and robustness to model uncertainties and external disturbances. The non-homogeneous differentiator is also implemented to obtain exact differentiation in the control strategy. Simulations and the obtained results on a 3DOF helicopter by Quanser are shown.