Autonomous Trajectory Tracking Control for a Large-Scale Unmanned Helicopter under Airflow Influence

Table 3

PID and SMC gains used in the HIL simulation test.

Channels and Trim	Gains	Values	Gains	Values
		Inner loop
Roll Channel		0.6		0.27
Yaw Channel		0.7		0.6
Pitch Channel		1.0		0.42
		Outer loop
Position controller		0.4		0.4		0.3
		1		1		1
Velocity controller		1		1		1.5
		0.1		0.1		0.1