Research Article
Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter
Table 2
Parameters of controller.
| | Variable | Value | Description |
| | 1 | Control gain in (44) | | 5 | Control gain in (52) | | diag | Control gain in (63) | | diag | Control gain in (68) | | diag | Control gain in (73) | | 0.15 | Control gain for (80) | | 0.05 | Control gain for (80) | | 0.5 | Control gain for (81) | | 1.5 | Control gain for (81) | | 0.5 | Control gain for (82) | | 1.5 | Control gain for (82) | | 1 | Observer gain in (31) | | 3 | Observer gain in (31) | | 2 | Observer gain in (32) | | 10 | Observer gain in (32) | | 20 | Differentiator gain for (68) | | 30 | Differentiator gain for (68) | | 20 | Differentiator gain for (73) | | 30 | Differentiator gain for (73) |
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