Abstract
In this paper, combined attitude control of an underactuated helicopter experimental system is considered. The controlled helicopter experimental system has two inputs and three outputs, namely, this system is underactuated. The combined attitude controller includes a non-linear MIMO controller based on adaptive sliding mode control and non-adaptive non-linear controllers. Control system stability is guaranteed by Lyapunov function-based proof. Experimental results show the effectiveness of the proposed method.
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