Backstepping Terminal Sliding Mode Control Design for a TRMS

Abstract

This paper investigates the robust control for a twin rotor MIMO system (TRMS) using a fractional-order backstepping terminal sliding mode control (BSFTSMC). The controller is designed in two parts first a backstepping control is presented for trajectory tracking by a virtual input subsequently the combination of this method with a fractional-order terminal sliding mode control is proposed. The stability of this controller is studied by the Lyapunov theory. The effectiveness of the controller is investigated via numerical simulations.