Abstract
A sliding mode controller and a reduced order state estimator are applied to an uncertain small-scale unmanned helicopter. This paper exploits and explores the synergy of these two techniques in the context of the regulator problem. The sliding mode control design methodology applied is the so-called unit vector approach. The reduced order state estimator is based on lyapunov equation. Considering some of uncertain model parameters, computer simulations were carried out to validate the suitability of the proposed approach.
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