Smooth robust adaptive sliding mode control of 2-DOF helicopter system
DOI:
https://doi.org/10.54939/1859-1043.j.mst.107.2025.24-31Keywords:
2-DOF helicopter; Nonlinear system; Robust adaptive sliding mode control; Smooth function; Parameter uncertainty; Time-varying disturbances.Abstract
This paper investigates the development of a tracking control system for a 2-degree-of-freedom (2-DOF) helicopter under parameter uncertainties and time-varying external disturbances. A nonlinear mathematical model of the 2-DOF helicopter system is first established. Subsequently, a conventional sliding mode controller (SMC) is designed, and its limitations in handling parameter uncertainties and external disturbances are analyzed. To address these limitations, the paper proposes a smooth, robust adaptive sliding mode controller for the 2-DOF helicopter system, ensuring convergence of closed-loop signals. The robust stability of the proposed controller is rigorously proven using Lyapunov stability theory. The system is simulated in MATLAB/Simulink with both the conventional and proposed controllers. Comparative simulation results demonstrate that the proposed adaptive robust controller outperforms the conventional sliding mode controller and fully meets the control requirements.
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