DESIGN OF FRACTIONAL ORDER SLIDING MODE CONTROLLER FOR 2 DOF HELICOPTER SYSTEM

Abstract

This paper presents a real time application for a prototype helicopter system by using sliding mode control strategy enhanced with small differential deviations. Experimental and simulation studies of the proposed controller demonstrate the control performance for a class of flight systems with unstable dynamics. It is shown that the controller decreases the steady state errors of the vertical and horizontal rotation of the system. Principally, small differential deviations successfully strengthen or weaken the effect of the differentiation to obtain better response in case of external disturbances. Numerical and experimental results are in agreement and confirm effectively tracking of desired rotor angles and suppression disturbances.

Keywords

• Fractional Calculus
• Sliding Mode Control
• 2 DOFHelicopter System
• TRMS.