Robust trajectory control for unmanned helicopter with mismatched disturbances via novel sliding mode control

In this paper, a novel sliding mode control (SMC) method is proposed for the small-scale unmanned helicopter with mismatched disturbance. The novel SMC method is developed by designing a new sliding surface with the output of nonlinear disturbance observer (NDO). The proposed method is robust with both matched and mismatched disturbance. Moreover, it can attenuate the chattering problem significantly. Finally, simulation results illustrate the effectiveness and robustness of the proposed flight control scheme.