Integral Sliding Mode Control for Helicopter via Disturbance Observer and Quantum Information Technique

Abstract

A novel self-repairing control scheme is proposed for a helicopter with unknown disturbance. Firstly, a disturbance observer is introduced to observe the disturbance of the system, which can produce corresponding control signals according to the disturbance signals. Secondly, an integral sliding mode controller is designed to compensate the unobserved disturbance and uncertainties. All of the closed-loop poles can be arbitrarily placed and the output errors converge to zero effectively through the controller. Besides, a robust closed-loop system against disturbance and parameter uncertainties is achieved. In addition, quantum information technique is used to increase the self-repairing control accuracy of helicopter. Finally, simulation results demonstrate the effectiveness and feasibility of the proposed self-repairing control scheme.