Abstract
This paper presents a control strategy for mini helicopters having four rotors. Based on the back-stepping method together with sliding mode control theories, a nonlinear robust controller is designed to stabilize the hovering helicopter in the presence of model uncertainty with respect to the actuators. The sliding mode controller, which is a part of the whole controller, contributes to achieve the robust properties. The existence of sliding mode is guaranteed by taking account of the model uncertainty. Numerical simulation illustrates the robustness of the proposed controller against not only the model uncertainty but also torque disturbances such as a gust of wind.
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