Observer-based adaptive super twisting control strategy for a 2-DOF Helicopter

In this paper, an adaptive super twisting control algorithm (ASTA) for a 2-DOF Helicopter is presented. In order to implement the ASTA control, a Nonlinear Extended State Observer (NESO) is used to estimate the unmeasured dynamics. Furthermore, the proposed control scheme increase robustness under non modeled dynamics and external disturbance, avoiding overestimate the gain. Experimental results are given to illustrate the performance of the proposed control scheme.