Adaptive Trajectory Tracking Control for Rotorcraft Using Incremental Backstepping Sliding Mode Control Strategy

This paper investigates the adaptive incremental backstepping sliding mode control for rotorcraft trajectory-tracking problem to enhance robustness matched uncertainty in model. First, dynamics is used design exclude adverse effect of mismatched model uncertainties on performance. Secondly, sliding-mode strategy adopted second stage controller, and switching gains controller thoroughly studied using with different levels uncertainties. To clarify enhancement selection gains, this chooses three structures consisting traditional two controls fixed or adaptively adjusted gains. These designs are applied helical-turn maneuver Bo-105 helicopter compare their relative The results prove that shows much higher than other designs, even can be improve pure design. Therefore, present effectively applicable which typically contains many sources both