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Mathematical Problems in Engineering
Volume 2015 (2015), Article ID 938246, 7 pages
Research Article

Integral Sliding Mode Control for Helicopter via Disturbance Observer and Quantum Information Technique

1College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
2Department of Electrical and Computer Engineering, University of Virginia, Charlottesville, VA 22903, USA

Received 6 August 2014; Accepted 19 September 2014

Academic Editor: Ke Zhang

Copyright © 2015 Qiang Qu 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 novel self-repairing control scheme is proposed for a helicopter with unknown disturbance. Firstly, a disturbance observer is introduced to observe the disturbance of the system, which can produce corresponding control signals according to the disturbance signals. Secondly, an integral sliding mode controller is designed to compensate the unobserved disturbance and uncertainties. All of the closed-loop poles can be arbitrarily placed and the output errors converge to zero effectively through the controller. Besides, a robust closed-loop system against disturbance and parameter uncertainties is achieved. In addition, quantum information technique is used to increase the self-repairing control accuracy of helicopter. Finally, simulation results demonstrate the effectiveness and feasibility of the proposed self-repairing control scheme.