Sliding Mode Tracking Control of a Helicopter Based on Integral Switching Surface

As the helicopter is a strong coupling and nonlinear system, the original mathematical model of helicopter is linearized first and a new design method for the flight control based on sliding mode control is adopted. The optimal Linear Quadratic Regulator is used for the design of integral switching surface. The advantage of sliding mode control is its insensitivity to the model errors, parametric uncertainties and other disturbances. Simulations show that the exponential stability is guaranteed for the tracking control and the robustness against external disturbance is obtained as well.