Particle swarm optimization-based adaptive super-twisting sliding mode control design for 2-degree-of-freedom helicopter

This paper presents a novel design of adaptive super-twisting sliding mode controller for two-axis helicopter with model uncertainties. The high-order super-twisting sliding mode control strategy is used to guarantee that the sliding surface can reach the equilibrium point in a shorter time and to avoid the chattering problem. The adaptive control algorithm has been developed based on Lyapunov theory to estimate the unknown parameters of 2-degree-of-freedom helicopter such that the global stability of the controlled system based on adaptive super-twisting sliding mode is guaranteed. A comparison study between conventional and adaptive super-twisting sliding mode controllers is made and the effectiveness of the proposed scheme is verified via computer simulation.