A robust controller based on adaptive super-twisting algorithm for a 3DOF helicopter

This paper presents a new controller for a 3D helicopter. The main novelty of this controller is the use of adaptive super-twisting algorithm for the control of each attitude angle. This controller is a second order sliding mode controller, which is robust versus uncertainties and perturbations, ensures finite time convergence, reduces the chattering, increases the accuracy and does not require time derivative of the sliding variable. A very important point comes from its adaptive gain, which allows to design the controller with very reduced knowledge on uncertainties and perturbations. This controller is applied on the three attitude angles of a 3D helicopter, this fact being validated by simulations and experimental results.