Research Article
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter
Table 1
Parameters of unmanned helicopter.
| | Variable | Description | Value |
| | Mass of unmanned helicopter | 8.2 kg |
| | Acceleration of gravity | 9.81 m·s−2 |
| | Linkage gain ratio of to | −0.7615 s−1 |
| | Linkage gain ratio of to | −131.4125 m/(rad·s2) |
| | The moment of inertia | diag kg·m2 |
| | Coefficient matrix of in (9) | diag s−1 |
| | Coefficient matrix of in (9) | s−2 |
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