This paper investigates the adaptive incremental backstepping sliding mode control for the rotorcraft trajectory-tracking control problem to enhance the robustness to the matched uncertainty in the model. First, the incremental dynamics is used for the control design to exclude the adverse effect of the mismatched model uncertainties on the trajectory-tracking performance. Secondly, the sliding-mode control strategy is adopted in the second design stage of the backstepping controller, and the effect of switching gains on the controller robustness is thoroughly studied using the rotorcraft model with different levels of the matched uncertainties. To clarify the robustness enhancement using the adaptive selection of switching gains, this paper chooses three different control structures consisting of the traditional backstepping control and two backstepping sliding mode controls with the fixed or adaptively adjusted switching gains. These control designs are applied to the trajectory-tracking control for the helical-turn maneuver of the Bo-105 helicopter to compare their relative robustness to the matched uncertainties. The results prove that adaptive incremental backstepping sliding mode control shows much higher robustness than other two designs, and the controller even with the fixed switching gains can be used to improve the robustness of the pure backstepping control design. Therefore, the present adaptive incremental backstepping sliding mode control is effectively applicable with the rotorcraft model which typically contains many different sources of both matched and mismatched uncertainties.
Robust tracking control for hydraulic actuator using backstepping sliding mode control