See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/346579225

Flight Control of a 1-DOF Helicopter System using a Sliding Mode Controller

for Disturbance Rejection

Article · November 2020

DOI: 10.5281/zenodo.4310310

CITATIONS READS

0 92

3 authors, including:

Jairo Cuero Javier Andres Vargas

Universidad de los Llanos Universidad de los Llanos
5 PUBLICATIONS   0 CITATIONS    41 PUBLICATIONS   33 CITATIONS   

SEE PROFILE SEE PROFILE

Some of the authors of this publication are also working on these related projects:

Planes de Energización Rural Sostenibles – PERS, Región Orinoquia View project

Aprendizaje de la Integral definida y sus aplicaciones en ingeniería View project

All content following this page was uploaded by Jairo Cuero on 07 December 2020.

The user has requested enhancement of the downloaded file.

 International Journal of Engineering Research and Technology. ISSN 0974-3154, Volume 13, Number 11 (2020), pp. 3292-3297
© International Research Publication House. http://www.irphouse.com DOI:10.5281/zenodo.4310310

Flight Control of a 1-DOF Helicopter System using a Sliding Mode

Controller for Disturbance Rejection

Cuero Jairo1, Vargas Javier2 and Jacinto Edwar3

1
EYSI, MACRYPT Research Group, Universidad de los Llanos, Colombia.
2
EYSI, MACRYPT Research Group, Universidad de los Llanos, Colombia.
3
SIE Research Group, Universidad Distrital, Colombia.

Abstract requirement of robustness is crucial for the development of the

system, SMC fits well as it can operate in the presence of large
This document presents the design, implementation, and
uncertainties, disturbances, or non-linearities in the model [3].
evaluation of a sliding mode controller to stabilize the angular
SMC is a technique derived from variable structure systems
position of a 1-DOF helicopter. The dynamic model of the
(VSS) [4] that alters the dynamics of the system by applying
helicopter was found using the system identification technique
high frequency switching control signals. However, the design
with the MATLAB toolbox. Also, a classic PID controller was
needs special attention in many applications, as dealing with
designed to compare the behavior of both controllers and their
the phenomenon of chattering can be a daunting obstacle [5].
robustness and disturbances rejection. The simulation of the
control strategies was carried out in Simulink and programed Several applications for UAV control have employed the SMC
on the STM32F411 microcontroller. The PID controller technique with some variations, for instance, the multi-variable
performed well under normal operating conditions, but, with a integral sliding mode control[6] to track desired trajectories for
sustained disturbance at the input, the system output with the the azimuth angle as well as the pitch angle in a nonlinear
PID controller began to oscillate due to perturbance. The control-oriented model of a 2-DOF helicopter. The new control
Sliding Mode Controller was not the best in the transient state. structure for a quadrotor helicopter that employs the least-
However, it did show robustness to disturbance, i.e., under the squares method to solve the overdetermined problem of the
same conditions when the PID controller could not guarantee control input in the translational motion of a quadcopter[7] is
and stabilize the output, the SMC performed better, with a little another example. Here, the sliding mode controller provided
slight oscillation in steady-state but without leaving the robust tracking and stabilization of the quadcopter. Other
criterion of 2% of the reference value in the input. papers also have addressed this last goal using an integral
version of SMC[8], especially, a second-order chattering-free
Keywords: Nonlinear system, Sliding Mode Control, PID
SM control is adopted to attenuate the chattering phenomenon
Controller, Helicopter.
or adding the backstepping technique[9][10] to the Sliding
Mode Control.
I. INTRODUCTION Besides altitude [11] or speed controls, the robust control
systems are also present in more complex systems, such as the
Industry 4.0 considers the use, appropriation, and development
trajectory tracking of a quadrotor [12][13], previously modeled
of unmanned vehicles as an emerging technology. In the case
using Euler-Lagrange[14], in which the SMC dynamically
of aerial vehicles, the integration of drones into consumer controls the altitude and the lateral movement. Real-time
electronics is increasingly evident due to the increase in both operation is mandatory for these purposes since any delay in
military and civil applications, including precision agriculture,
the navigation system would produce that the flying artifact
shipping and delivery, and the entertainment industry; so, the
crashes or ends its flight abruptly. This real-time operation
UAV market is forecast to reach $40 billion by 2025 [1]. The
needs high-performance data acquisition systems and powerful
foray into new applications and the improvement of the current
devices like a personal computer, which guarantees sufficient
performance of these vehicles generate the need to solve a
sampling times to control the UAV.
series of problems, not only construction but also operational,
among which is the optimization and control of the propulsion
Some applications need smaller air vehicles such as miniature
system.
helicopters or a quadrotor type MAV (Micro Air Vehicle),
To control BLDC motor-based propulsion systems, usually, a which must have resistance to disturbances in the air [15] or
simple PID controller is enough [2]. Several applications such endure total or partial damage in the operation of the
as electric motors, pneumatic, electrical, hydraulic systems, and turbines[16]. This type of controllers requires some
generally all the industries have employed this type of optimization techniques to perform the parameters tuning[17]
controller for decades, mostly due to its performance, to ensure that the sliding controller has disturbances rejection,
simplicity, and robustness in the presence of uncertainties. to meet also the stability of the system, and the sampling time
necessary for the engines that generate the propulsion react
Another control technique widely used for nonlinear systems adequately.
applications is the Sliding Mode Control (SMC). When the

3292
International Journal of Engineering Research and Technology. ISSN 0974-3154, Volume 13, Number 11 (2020), pp. 3292-3297
© International Research Publication House. http://www.irphouse.com

In addition to applying only a robust control method to handle In the transfer function, the output is the angle between the
the altitude or rotation of an aircraft, the high-order sliding moving bar and the fixed one, and the input is the thrust force
mode controller (HO-SMC) can also include some optimal exerted by the BLDC motor at the distal end of the bar.
control techniques such as the Linear Quadratic Regulator Therefore, the relationship between the pulse width applied to
LQR[18] to improve the performance and guarantee the motor and the thrust force was determined. Figure 2 shows
disturbances rejection and resistance to discontinuities in the the configuration the results of the experiment.
input model of the system. This metaheuristic, called Multi-
objective, allows a behavioral control of the system even with
multiple degrees of freedom. Moreover, SMCs combines
classical controller like PID or integral backstepping controller
[19] in the natural or robust form[20] to perform observer-
based designs and reduce the computational complexity. SMCs
also integrate computational intelligence techniques such as
fuzzy logic [21] or even more sophisticated methods that
demand greater computational power like machine learning
real-time operation and deep learning [22].

SMC applications are not limited to flight control. There are

also other areas of engineering as the chemical industry[23],
complex industrial processes, or any other mechanical-physical
system that demands to be tolerant of disturbances.

This work presents the design of a Sliding Mode Controller

based on the equivalent control technique to control a second- Fig. 2. Relationship between the pulse width applied to the
order underdamped process. In turn, a PID controller is motor and the thrust force
implemented to compare the behavior of the conventional
controller versus the robust one. To solve the parameter identification problem, the pairs of
input and output data are needed, so the system received a
II. SYSTEM IDENTIFICATION thrust force of 0.5N and, it yielded the signal in figure 3.
The flight simulation control unit is a 1-DOF helicopter model
whose propulsion is provided by a BLDC motor attached to the
end of a movable shaft, which in turn is fastened to a fixed shaft
and to a base that gives it stability.

Fig. 3. Step response for a 0.5N input

Fig. 1. Flight control unit
From the output behavior is observed that the model could be
described by the characteristic equation of an underdamped
As the mathematical model relies on the system's behavior, system as follows:
then the free body diagram analysis can be employed to show
the forces that act in the process and describe the dynamic. 𝑌𝑌(𝑠𝑠)
𝐺𝐺(𝑠𝑠) = 𝑈𝑈(𝑠𝑠) =
𝐾𝐾
(1)
𝑇𝑇𝜔𝜔 2 𝑠𝑠 2 +2𝜁𝜁𝑇𝑇𝜔𝜔 𝑠𝑠+1
However, this requires knowing parameters such as the
moment of inertia, motor constants, among others that are not
easy to measure. Therefore, a black-box model is a better Once defined the model structure, the System Identification
choice to estimate the transfer function through toolbox of MATLAB helps to find the parameters of the
experimentation, which means to measure the angular transfer function. Equation 2 shows the result.
displacement when a thrust force is applied.

3293
International Journal of Engineering Research and Technology. ISSN 0974-3154, Volume 13, Number 11 (2020), pp. 3292-3297
© International Research Publication House. http://www.irphouse.com

𝑌𝑌(𝑠𝑠)
𝐺𝐺(𝑠𝑠) = 𝑈𝑈(𝑠𝑠) =
66.53
(2) IV. SLIDING MODE CONTROLLER
0.07641𝑠𝑠 2 +0.2721𝑠𝑠+1
The control in sliding mode requires defining a sliding surface
s(t) such that 𝑠𝑠̇ (𝑡𝑡) = 0. In this case, we selected a differential
integral model given by equation 4.
III. PID CONTROLLER
𝑑𝑑 𝑛𝑛 𝑡𝑡
The typical design of a PID controller in discrete time needs the 𝑆𝑆(𝑡𝑡) = �𝑑𝑑𝑑𝑑 + 𝜆𝜆� ∫0 𝑒𝑒(𝑡𝑡)𝑑𝑑𝑑𝑑 (4)
calculation of the sampling time, this could be achieved using
many techniques, here we have applied the settling time and the Expanding with n=2 and grouping terms with the new
bandwidth criteria to set the sampling time in 10ms. parameters λ0 = 𝜆𝜆2 , λ1 = 2𝜆𝜆:
𝑑𝑑𝑑𝑑(𝑡𝑡) 𝑡𝑡
𝑆𝑆(𝑡𝑡) = 𝑑𝑑𝑑𝑑
+ λ1 𝑒𝑒(𝑡𝑡) + λ0 ∫0 𝑒𝑒(𝑡𝑡)𝑑𝑑𝑑𝑑 (5)
1. num = 66.53;
2. den = [0.07641 0.2721 1]; Since the error is the difference between the reference and the
3. G = tf(num,den); output, then the derivative of the reference could approximate
4. Gcl = feedback(G,1); to zero, that is:
5. BW = bandwidth(Gcl);
6. disp('Bandwidth Method') 𝑑𝑑𝑑𝑑(𝑡𝑡) 𝑑𝑑𝑑𝑑(𝑡𝑡)
7. T1 = 2*pi*[1/(12*BW) 1/(8*BW)] 𝑑𝑑𝑑𝑑
≅− 𝑑𝑑𝑑𝑑
(6)
8. Features = stepinfo(Gcl);
9. Ts = Features.SettlingTime; And replacing it in equation 5
10. disp('Settling Time Method')
T2 = [0.05*Ts 0.15*Ts] 𝑑𝑑𝑑𝑑(𝑡𝑡) 𝑡𝑡
11.
𝑆𝑆(𝑡𝑡) = − 𝑑𝑑𝑑𝑑
+ λ1 𝑒𝑒(𝑡𝑡) + λ0 ∫0 𝑒𝑒(𝑡𝑡)𝑑𝑑𝑑𝑑 (7)

Once the sliding surface have been chosen, the control law is
With the sampling time already defined, a classic digital PID
defined to satisfy 𝑠𝑠(𝑡𝑡) = 0 as a combination of a continuous
control was designed by applying the Ziegler Nichols technique
and a discontinuous part as follows:
to find a suitable compensator, and then the MATLAB toolbox
for the optimization of the controller parameters. The PID 𝑢𝑢(𝑡𝑡) = 𝑢𝑢𝐶𝐶 (𝑡𝑡) + 𝑢𝑢𝐷𝐷 (𝑡𝑡)
controller equation is in equation 3, and table 1 shows the
tunned parameters for the controller that yields the output in The term 𝑢𝑢𝑐𝑐 (𝑡𝑡) is also called the equivalent control and it can
figure 4. be obtained from system dynamics by solving the system
equation for the control input and considering 𝑠𝑠̇ (𝑡𝑡) = 0.
𝑇𝑇 𝑧𝑧−1
𝑠𝑠
𝐶𝐶(𝑧𝑧) = 𝐾𝐾𝑝𝑝 + 𝐾𝐾𝑖𝑖 𝑧𝑧−1 + 𝐾𝐾𝑑𝑑 (3) Applying the derivative to equation 7, replacing equation 6 and
𝑇𝑇𝑠𝑠
equalizing it to zero.
𝑑𝑑 2 𝑦𝑦(𝑡𝑡) 𝑑𝑑𝑑𝑑(𝑡𝑡)
0=− − λ1 + λ0 𝑒𝑒(𝑡𝑡) (8)
Table 1. PID tunned parameters 𝑑𝑑𝑑𝑑 2 𝑑𝑑𝑑𝑑

Solving for u in the system equation in time domain

PID Parameters
𝑌𝑌(𝑠𝑠) 𝐾𝐾
𝐾𝐾𝑝𝑝 0.00834 𝐺𝐺(𝑠𝑠) = 𝑈𝑈(𝑠𝑠) = 𝑇𝑇𝜔𝜔 2 𝑠𝑠 2 +2𝜁𝜁𝑇𝑇𝜔𝜔 𝑠𝑠+1
(9)
𝐾𝐾𝑖𝑖 0.0329 1 𝑇𝑇𝜔𝜔 2 𝑑𝑑 2 𝑦𝑦(𝑡𝑡) 2𝜁𝜁𝑇𝑇𝜔𝜔 𝑑𝑑𝑑𝑑(𝑡𝑡)
𝐾𝐾
�
𝑑𝑑𝑑𝑑 2
+ 𝑑𝑑𝑑𝑑
+ 𝑦𝑦(𝑡𝑡)� = 𝑢𝑢(𝑡𝑡) (10)
𝐾𝐾𝑑𝑑 0.00053
Combining equations 8 and 10 gives the equivalent control
𝑇𝑇𝜔𝜔 2 2𝜁𝜁 𝑑𝑑𝑑𝑑(𝑡𝑡) 1
𝑢𝑢𝑒𝑒𝑒𝑒 (𝑡𝑡) = 𝑢𝑢𝑐𝑐 (𝑡𝑡) = ��𝑇𝑇 − λ1 � + 𝑦𝑦(𝑡𝑡) + λ0 𝑒𝑒(𝑡𝑡)�
𝐾𝐾 𝜔𝜔 𝑑𝑑𝑑𝑑 𝑇𝑇𝜔𝜔 2
2𝜁𝜁 1
if λ1 = 𝑇𝑇 , then 𝑢𝑢𝑐𝑐 (𝑡𝑡) = 𝐾𝐾 �𝑦𝑦(𝑡𝑡) + λ0 𝑇𝑇𝜔𝜔 2 𝑒𝑒(𝑡𝑡)� (11)
𝜔𝜔

𝑢𝑢𝐷𝐷 (𝑡𝑡) is designed based on a relay-type function like 𝑢𝑢𝐷𝐷 (𝑡𝑡) =

𝐾𝐾𝐷𝐷 ∗ 𝑠𝑠𝑠𝑠𝑠𝑠𝑠𝑠(𝑆𝑆(𝑡𝑡)), which can be modified to reduce the chattering
as:
𝑆𝑆(𝑡𝑡)
𝑢𝑢𝐷𝐷 (𝑡𝑡) = 𝐾𝐾𝐷𝐷 |𝑆𝑆(𝑡𝑡)|+𝛿𝛿 (12)

Then, the complete control law will be the sum of equation 11

and 12.
1 𝑆𝑆(𝑡𝑡)
𝑢𝑢(𝑡𝑡) = 𝐾𝐾 �𝑦𝑦(𝑡𝑡) + λ0 𝑇𝑇𝜔𝜔 2𝑒𝑒(𝑡𝑡)� + 𝐾𝐾𝐷𝐷 |𝑆𝑆(𝑡𝑡)|+𝛿𝛿 (13)

The values of K and Tw are found by converting the equation

2 into the form of equation 1.
Fig. 4. system step response with the PID compensator. 𝑌𝑌(𝑠𝑠)
𝐺𝐺(𝑠𝑠) = 𝑈𝑈(𝑠𝑠) =
66.53
(14)
(0.2764)2 𝑠𝑠 2 +2∗0.4922∗0.2764𝑠𝑠+1

3294
International Journal of Engineering Research and Technology. ISSN 0974-3154, Volume 13, Number 11 (2020), pp. 3292-3297
© International Research Publication House. http://www.irphouse.com

From equation 14, 𝑇𝑇𝜔𝜔 = 0.2764 and 𝜁𝜁 = 0.4922 then λ1 = 3.56. A better response with a lower chattering is obtained using
The behavior of the sliding surface depends on the values of 𝐾𝐾𝐷𝐷 = 0.35 and 𝛿𝛿 = 0.75. Figure 6 shows the optimal system
λ0 and λ1 , so if a critically damped behavior is desired then response.
λ0 must be 0.25λ1 2, that is λ0 = 3.17.
𝐾𝐾𝐷𝐷 and 𝛿𝛿 are tuning parameters for the discontinuous part of
the controller, a first attempt with 𝐾𝐾𝐷𝐷 = 1 and 𝛿𝛿 = 0.1
produced the signals in figure 5.

Fig. 6. Optimal response with the tuned parameters

Finally, in table 2 are the SMC values that were tuned to get an
optimized behavior, and figure 7 shows the complete
implementation of SM controller in Simulink
Fig. 5. Sliding surface (A), control input (B), Switching
surface (C) and system output (D) for 𝐾𝐾𝐷𝐷 = 1 and 𝛿𝛿 = 0.1
Table 2. SMC tunned parameters
Although the output of the system (D) seems to be adequate, a
high-frequency oscillation is observed in both the control SMC Parameters
action (B) and switching surface (C), caused by the
discontinuous nature of the control action. This behavior, λ0 3.17
known as the chattering phenomenon, is also present in the λ1 3.56
sliding surface (A). So, these values are unsuitable since the 𝐾𝐾𝐷𝐷 0.35
chattering eventually creates a problem of wear and tears in the
mechanical parts and vibrations in the shaft of the helicopter. 𝛿𝛿 0.75

Fig. 7. Sliding Mode Controller Diagram in Simulink

3295
International Journal of Engineering Research and Technology. ISSN 0974-3154, Volume 13, Number 11 (2020), pp. 3292-3297
© International Research Publication House. http://www.irphouse.com

V. PID CONTROLLER VS SM CONTROLLER the PID and the Sliding Mode controllers designed around the
system dynamic controlled the angular position of the elevation
Figure 8 plots the system response with the PID and Sliding
axis. The simulation results met the proposed design
Mode Controllers for a 30° reference input. Clearly, with the
specifications, and the controllers were tested on the Simulink
PID, the system reaches faster the reference input, the response
platform and implemented on an STM32F411 microcontroller
exhibits just a few oscillations and a very low overshoot and, it
for evaluation in the helicopter model.
stabilizes in less than two seconds. Conversely, the SMC last
the double of time to reach the steady-state and its overshoot is The designed PID controller performed well under normal
around 20%. operating conditions, stabilized the system in a time of 2s, and
with an overshoot of only 5%. In contrast, the system with the
controller in slide mode exhibited a significant overshoot of
20%, and its stabilization time was 4s. However, under
abnormal conditions, with a sustained disturbance at the input
of the system, the PID controller showed higher sensitivity
since when the perturbation started, the output of the system
began to oscillate. On the other hand, the controller in sliding
mode gave the system robustness since it did not react to the
same disturbance applied to the input; the output presented a
slight oscillation in steady-state but without leaving the
criterion of 2% of the reference value in the input.
In future works, we recommend a cascade form with both
controllers, so the system gets robustness to disturbances and
uncertainty in the model parameters, and simultaneously
presents a better behavior in the steady and transient state, that
is, fast response with an overshoot less than 5%.
Fig. 8. Behavior of the PID and SM controllers in the absence
of disturbances
ACKNOWLEDGEMENT
The foremost advantage of a sliding mode controller is its This work was supported and funded by the Directorate
robustness before disturbances, so, for the same 30°degree General Research at Universidad de Los Llanos, Colombia, and
reference input, a sinusoidal disturbance has been added and, under the research project N° C09-F02-005-2019.
figure 9 shows the system response. The SMC barely changes
due to perturbation, but the PID starts oscillating around the
setpoint. REFERENCES
[1] W. Xu, “GIV 2025 Unfolding the Industry Blueprint
of an Intelligent World,” Huawei Tech., 2018,
[Online]. Available:
http://www.huawei.com/minisite/giv.
[2] A. L. Salih, M. Moghavvemi, H. A. F. Mohamed, and
K. S. Gaeid, “Flight PID controller design for a UAV
quadrotor,” Sci. Res. Essays, vol. 5, no. 23, pp. 3660–
3667, 2010.
[3] X. S. Ligang Wu, Peng Shi, Sliding mode control of
uncertain parameter-switching hybrid systems.
Chichester, U.K.: John Wiley & Sons, Ltd, 2014.
[4] J. Ayala Taco, R. Gutiérrez, S. Guerra Jiménez, and
A. Fernandez Correa, “Diseño e implementación de
un control dual por modos deslizantes para un
Fig. 9. Behavior of PID and SM controllers in the presence of convertidor Buck CD-CA.,” Cienc. e Ing.
disturbances Neogranadina, vol. 25, no. 1, p. 91, 2015, doi:
10.18359/rcin.436.
[5] W. Boukadida, A. Benamor, H. Messaoud, and P.
CONCLUSIONS Siarry, “Multi-objective design of optimal higher
The dynamic equations that describe the behavior of the order sliding mode control for robust tracking of 2-
elevation axis led to the 1-DOF Helicopter model obtention. DoF helicopter system based on metaheuristics,”
This model was linearized and experimentally validated Aerosp. Sci. Technol., vol. 91, pp. 442–455, 2019, doi:
through the system identification technique in MATLAB. Then, 10.1016/j.ast.2019.05.037.

3296
International Journal of Engineering Research and Technology. ISSN 0974-3154, Volume 13, Number 11 (2020), pp. 3292-3297
© International Research Publication House. http://www.irphouse.com

[6] S. S. Butt and H. Aschemann, “Multi-variable integral [17] E. Baez, Y. Bravo, D. Chavez, and O. Camacho,
sliding mode control of a two degrees of freedom “Tuning Parameters Optimization Approach for
helicopter,” IFAC-PapersOnLine, vol. 28, no. 1, pp. Dynamical Sliding Mode Controllers,” IFAC-
802–807, 2015, doi: 10.1016/j.ifacol.2015.05.129. PapersOnLine, vol. 51, no. 13, pp. 656–661, 2018,
doi: 10.1016/j.ifacol.2018.07.355.
[7] S. Raniprima, B. Hidayat, and N. Andini, “Digital
image steganography with encryption based on [18] J. Xu, C. C. Lim, and P. Shi, “Sliding mode control of
rubik’s cube principle,” ICCEREC 2016 - Int. Conf. singularly perturbed systems and its application in
Control. Electron. Renew. Energy, Commun. 2016, quad-rotors,” Int. J. Control, vol. 92, no. 6, pp. 1325–
Conf. Proc., pp. 198–201, 2017, doi: 1334, 2019, doi: 10.1080/00207179.2017.1393102.
10.1109/ICCEREC.2016.7814972.
[19] M. Labbadi and M. Cherkaoui, “Robust adaptive
[8] T. Jiang, D. Lin, and T. Song, “Novel integral sliding backstepping fast terminal sliding mode controller for
mode control for small-scale unmanned helicopters,” uncertain quadrotor UAV,” Aerosp. Sci. Technol., vol.
J. Franklin Inst., vol. 356, no. 5, pp. 2668–2689, 93, p. 105306, 2019, doi: 10.1016/j.ast.2019.105306.
2019, doi: 10.1016/j.jfranklin.2019.01.035.
[20] W. Cai, J. She, M. Wu, and Y. Ohyama, “Disturbance
[9] Z. Jia, J. Yu, Y. Mei, Y. Chen, Y. Shen, and X. Ai, suppression for quadrotor UAV using sliding-mode-
“Integral backstepping sliding mode control for observer-based equivalent-input-disturbance
quadrotor helicopter under external uncertain approach,” ISA Trans., vol. 92, pp. 286–297, 2019,
disturbances,” Aerosp. Sci. Technol., vol. 68, no. May, doi: 10.1016/j.isatra.2019.02.028.
pp. 299–307, 2017, doi: 10.1016/j.ast.2017.05.022.
[21] S. Zeghlache and N. Amardjia, “Real time
[10] M. E. Antonio-Toledo, E. N. Sanchez, A. Y. Alanis, J. implementation of non linear observer-based fuzzy
A. Flórez, and M. A. Perez-Cisneros, “Real-Time sliding mode controller for a twin rotor multi-input
Integral Backstepping with Sliding Mode Control for multi-output system (TRMS),” Optik (Stuttg)., vol.
a Quadrotor UAV,” IFAC-PapersOnLine, vol. 51, no. 156, pp. 391–407, 2018, doi:
13, pp. 549–554, 2018, doi: 10.1016/j.ijleo.2017.11.053.
10.1016/j.ifacol.2018.07.337.
[22] X. Yao and Z. Chen, “Sliding mode control with deep
[11] B. Sumantri, N. Uchiyama, and S. Sano, “Least square learning method for rotor trajectory control of active
based sliding mode control for a quad-rotor helicopter magnetic bearing system,” Trans. Inst. Meas. Control,
and energy saving by chattering reduction,” Mech. vol. 41, no. 5, pp. 1383–1394, 2019, doi:
Syst. Signal Process., vol. 66–67, pp. 769–784, 2016, 10.1177/0142331218778324.
doi: 10.1016/j.ymssp.2015.05.013.
[23] C. T. Chen and S. T. Peng, “Design of a sliding mode
[12] O. Mofid et al., “Development of a robust attitude control system for chemical processes,” J. Process
control for nonidentical rotor quadrotors using sliding Control, vol. 15, no. 5, pp. 515–530, 2005, doi:
mode control,” Aerosp. Sci. Technol., vol. 15, no. 5, 10.1016/j.jprocont.2004.11.001.
pp. 59–63, 2019, doi: 10.1016/j.ifacol.2018.07.337.
[13] O. Mofid et al., “Fixed-time trajectory tracking for a
quadrotor with external disturbances: A flatness-based
sliding mode control approach,” Aerosp. Sci.
Technol., vol. 15, no. 5, pp. 59–63, 2019, doi:
10.1016/j.ifacol.2018.07.337.
[14] G. Perozzi, D. Efimov, J. M. Biannic, and L.
Planckaert, “Trajectory tracking for a quadrotor under
wind perturbations: sliding mode control with state-
dependent gains ,” J. Franklin Inst., vol. 355, no. 12,
pp. 4809–4838, 2018, doi:
10.1016/j.jfranklin.2018.04.042.
[15] H. Castañeda, J. Rodriguez, and J. L. Gordillo,
“Continuous and smooth differentiator based on
adaptive sliding mode control for a quad-rotor MAV,”
Asian J. Control, no. July, pp. 1–12, 2019, doi:
10.1002/asjc.2249.
[16] T. Ashitha Varghese and S. J. Mija, “Sliding Mode
Control Based Design for a 6-DOF Miniature
Helicopter in Hovering Flight Mode,” 2019 IEEE 5th
Int. Conf. Mechatronics Syst. Robot. ICMSR 2019, pp.
59–63, 2019, doi: 10.1109/ICMSR.2019.8835471.

3297

View publication stats