SCIENCE CHINA Information Sciences, Volume 59, Issue 11: 112209(2016) https://doi.org/10.1007/s11432-015-0153-2

Second-order sliding mode attitude controller design of a small-scale helicopter

More info
  • ReceivedDec 7, 2015
  • AcceptedJan 15, 2016
  • PublishedOct 14, 2016


In this paper, the attitude control of a small-scale helicopter is investigated. The main rotor flapping dynamics is explicitly explored to improve the control performance. A two-layer control architecture is adopted: the inner loop controller is designed combining second-order sliding mode control with extended state observer to control the angular rates and yield good robustness properties with respect to model uncertainties; the outer loop controller is used to control the attitude. Experimental results show that the proposed controller yields excellent performance and robustness.

Funded by

Basic and Advanced Research Project of Chongqing(cstc2016jcyjA0563)



This work was supported by Basic and Advanced Research Project of Chongqing (Grant No. cstc2016jcyjA0563).


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