Table of Contents
ISRN Aerospace Engineering
Volume 2014, Article ID 436072, 8 pages
Research Article

Combination of Two Nonlinear Techniques Applied to a 3-DOF Helicopter

1Department of Electrical and Electronic Engineering, Malek Ashtar University of Technology, Tehran, Iran
2Department of Aerospace Engineering, Sharif University of Technology, Tehran, Iran

Received 23 December 2013; Accepted 6 March 2014; Published 17 April 2014

Academic Editors: S. Aus Der Wiesche, P.-C. Chen, and R. K. Sharma

Copyright © 2014 P. Ahmadi et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A combination of two nonlinear control techniques, fractional order sliding mode and feedback linearization control methods, is applied to 3-DOF helicopter model. Increasing of the convergence rate is obtained by using proposed controller without increasing control effort. Because the proposed control law is robust against disturbance, so we only use the upper bound information of disturbance and estimation or measurement of the disturbance is not required. The performance of the proposed control scheme is compared with integer order sliding mode controller and results are justified by the simulation.