Particle swarm optimization–based adaptive super-twisting sliding mode control design for 2-degree-of-freedom helicopter
This paper presents a novel design of adaptive super-twisting sliding mode controller for two-axis helicopter with model uncertainties. The high-order super-twisting sliding mode control strategy is used to guarantee that the sliding surface can reach the equilibrium point in a shorter time and to a...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2019-11-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/0020294019866863 |
| Summary: | This paper presents a novel design of adaptive super-twisting sliding mode controller for two-axis helicopter with model uncertainties. The high-order super-twisting sliding mode control strategy is used to guarantee that the sliding surface can reach the equilibrium point in a shorter time and to avoid the chattering problem. The adaptive control algorithm has been developed based on Lyapunov theory to estimate the unknown parameters of 2-degree-of-freedom helicopter such that the global stability of the controlled system based on adaptive super-twisting sliding mode is guaranteed. A comparison study between conventional and adaptive super-twisting sliding mode controllers is made and the effectiveness of the proposed scheme is verified via computer simulation. |
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| ISSN: | 0020-2940 |