Sliding-mode reduced-order controller design for a class of nonlinear helicopter model
一类非线性直升机模型的滑模降阶控制器设计

We investigate the design of a multiple-input affine nonlinear system for the multiple-input CE150 helicopter model with cross coupling. A new method for designing the sliding-mode reduced-order controller is developed based on the sliding-mode control theory. For a type of higher order affine nonlinear system, we build appropriate diffeomorphism transformation functions to reduce the initial higher order system to a lower order system by repeatedly using variable structure control theory as well as building variable structure control rule. The control input to the initial system is backward deducted successively from the mapping relationship between the present system and the previous system. This method is feasible and effective according to the simulation results of CE150 helicopter model.