Sliding mode controller using nonlinear sliding surface applied to the 2-DOF helicopter

Control of the helicopter includes nonlinearities, uncertainties and external perturbations that should be considered in the design of control laws. This paper presents a control strategy for TRMS (twin rotor mimo system), based on the sliding mode control using non linear sliding surfaces. The choice of this algorithm was justified by his robustness with respect to modeling errors and external disturbances. The simulation results of the proposed algorithm control show good performances. Finally simulation results are included to indicate the TRMS system with the proposed controller can greatly alleviate the chattering effect and remain a good trajectory tracking.

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