Adaptive Fast Smooth Second-Order Sliding Mode Control for Attitude Tracking of a 3-DOF Helicopter

TL;DR

This paper introduces an innovative adaptive fast smooth second-order sliding mode control method for 3-DOF helicopter attitude tracking, effectively handling disturbances, reducing chattering, and ensuring rapid finite-time convergence.

Contribution

It proposes a novel adaptive control and disturbance observer approach with non-singular sliding surfaces for improved helicopter attitude control.

Findings

Achieves fast finite-time convergence in simulations.

Effectively suppresses chattering and adapts to disturbances.

Demonstrates superiority over existing methods in simulation tests.

Abstract

This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding mode surface, we propose a novel adaptive fast smooth second-order sliding mode control method to enable elevation and pitch angles to track given desired trajectories respectively with the features of non-singularity, adaptation to disturbances, chattering suppression and fast finite-time convergence. In addition, a novel adaptive-gain smooth second-order sliding mode observer is proposed to compensate time-varying lumped disturbances with the smoother output compared with the adaptive-gain second-order sliding mode observer. The fast finite-time convergence of the closed-loop system with constant disturbances and the fast finite-time uniformly ultimately boundedness of the closed-loop system with the time-varying lumped disturbances are proved with the finite-time Lyapunov stability theory. Finally, the effectiveness and superiority of the proposed control methods are verified by comparative simulation experiments.