Sliding mode control for a miniature helicopter

A controller based on UAS-SM, sliding mode and open-loop control methodologies is developed for autonomous operation of the Trex-250 helicopter. This controller is composed of a nested sequence of rotor dynamic, angular rate, Euler angle, velocity and position loops. By the controller, coupling of lateral channel and longitudinal channel is greatly reduced. Meanwhile, the feasibility of UAS-SM for implementation is also evaluated in this paper. A practical experiment for Trex-250 is given for the benefits of combined controller.