Adaptive Fixed-Time Sliding Mode Control for Uncertain Twin-Rotor System with Experimental Validation

Abstract

This paper proposes an adaptive fixed-time control scheme for twin-rotor systems subject to the inertia uncertainties and external disturbances. First of all, a fixed-time sliding mode surface is constructed and the corresponding controller is developed such that the fixed-time uniform ultimate boundedness of the sliding variable and tracking error could be guaranteed simultaneously, and the setting time is independent of the initial values. The adaptive update laws are developed to estimate the upper bounds of the lumped uncertainties and external disturbances such that no prior knowledge on the system uncertainties and disturbances is required. Finally, a twin-rotor platform is constructed to verify the effectiveness of proposed scheme. Comparative results show better position tracking performance of the proposed control scheme.