jectory Tracking Controller for Sm Unmanned Helicopters

This paper presents a new dist based control (DOBC) scheme using mu twisting and backstepping algorithm for helicopter. A sliding mode observer is design compounded disturbances. Moreover, in ord calculation load, a first-order exact different to estimate the time derivative of the virtual c asymptotic stability is proved by Lyapunov simulation results illustrate the effectiveness the proposed flight control scheme. I. INTRODUCTION HE unmanned helicopters have many ordinary fixed-wing vehicles for the hovering, vertical taking-off and landing maneuverability. They have been used in the and civilian. However, it is a challenging design high-performance controllers for unmanned helicopter system is a nonlinea system with strong coupling (1)-(6). Although many control methods, such as L feedback linearization (3), model predic backstepping control (5) and sliding mode been developed to control the unmanned hel exact knowledge of the helicopter model these control methods, which limits thei utility. Thus, the DOBC scheme becomes an att for the unmanned helicopter to restrain Disturbance observer technique has been use such as (7) and (8), and it obtains satisfactory this paper, a sliding mode observer is deve the compounded disturbances. By integrat output into the backstpepping control compounded disturbances including matche disturbances can be compensated for to im performance. Moreover, multivariable algorithm is used to restrain the disturbance to improve the robustness and tracking perf