A comparison of chatter attenuation techniques applied to a twin rotor system

The twin rotor MIMO system (TRMS) is a helicopter-like system that is restricted to two degrees of freedom, pitch and yaw. It is a complicated nonlinear, coupled, MIMO system used for the verification of control methods and observers. This paper compares the ability of three adaptive sliding mode controllers (SMC) to suppress chattering. Once the design is complete the controllers are implemented in simulation and experimentally. The performance of the controllers are compared against a PID controller and other controllers in the literature. The ability of the sliding mode controllers (SMC) to suppress chattering is also be explored.