A novel robust trajectory tracking controller for small-scale unmanned helicopters

摘要

This paper presents a new disturbance observer based control (DOBC) scheme using multivariable super twisting and backstepping algorithm for small unmanned helicopter. A sliding mode observer is designed to estimate the compounded disturbances. Moreover, in order to avoid large calculation load, a first-order exact differentiator is developed to estimate the time derivative of the virtual control. The global asymptotic stability is proved by Lyapunov method. Finally, simulation results illustrate the effectiveness and robustness of the proposed flight control scheme.