Global sliding mode control on 3DOF-hover system

For the 3DOF-hover model system with nonlinear, time-varying and strong coupling characters, an global sliding mode controller (GSMC) was designed to get great performance. However, for the linear systems whose input matrixes are singular we cannot use the sliding mode control method directly. In this paper, first, we take advantage of the penrose-moore to transformational input matrix into nonsingular, then we use the adaptive global sliding mode control method. Therefore, we can use the sliding mode control method to the similar systems. Simulation results show that this method is feasible, and better than LQR controller.