Twin Rotor Control via Second Order Sliding Modes

Abstract

The control problem of a twin rotor system is considered in this study. Since the twin rotor system has highly nonlinear and coupled dynamics, a second order sliding mode controller is proposed which reduces chattering. An estimation for the equivalent part of the controller is also proposed. The classical sliding controller is also calculated and adapted to the twin-rotor system to compare. The numerical results presented that the designed controller achieved superior performance than the classical sliding mode controller in terms of reference tracking and chatter attenuation.