Attitude control of tilt rotor helicopter based on sliding mode variable structure control and expansion state observer

In this paper, a completely numerical simulation model of a tilt rotor helicopter is established. Based on the hierarchical and modular modeling principles, the whole simulation model is finally realized on the Simulink platform. Then a sliding mode variable structure controller based on expansion state observer (ESO) is designed in order to realize the attitude control of this nonlinear and strong coupling system. The simulation results show that this control method has better control effects for the nonlinear and multi - coupled system.