Integral Sliding Mode Altitude Control Experiment of Small Model Helicopter considering Motor Dynamics

Abstract

Currently, unmanned automatic flight of helicopters is expected to the expansion of operational area. However, the small scale helicopters are very sensitive for disturbance and Ground-Effects. In this study, we derive the model of both Ground-Effects and motor dynamics through experiments of a RC helicopter. These models compensate both Ground-Effects and delay of the motor respectively. We use integral sliding mode control to attenuate the disturbance and modeling error. We improve the control dynamics inside the boundary layer by considering motor dynamics. Then, we verify the efficacy of proposed methods through experiments.