Terminal sliding mode control of a twin rotor multiple-input multiple-output system

This paper deals with the finite time stabilization of a twin rotor multiple-input multiple-output (TRMS) system. A terminal sliding mode control law is obtained for the linearized model of the system by transforming it to the Brunovsky canonical form. Through experiment, the resulting control law is shown to be stable to disturbances in pitch and yaw. © 2011 IFAC.