Study on Fast Terminal Sliding Mode Control for a Helicopter via Quantum Information Technique and Nonlinear Fault Observer

In this paper, a novel direct self-repairing controller via quantum information technique and nonlinear fault observer is designed, which addresses tracking control and convergence rate problem of a helicopter. First, a nonlinear fault observer is designed to diagnose the helicopter’s fault. Next, in order to improve the convergence rate and stabilization of the helicopter system, an exponential and symbolic function is introduced to design the novel fast terminal sliding mode surface. Then, a novel method based on the newly FTSM surface is designed. An adaptive approach is adopted to estimate upper bound of the fault. The higher tracking performance and faster convergence rate are achieved by the proposed method. In addition, quantum information technique is used to develop the direct self-repairing control law, which can increase the self-repairing control accuracy of the helicopter in faulty case and improve its strong anti-interference ability. Finally, several numerical simulation results have shown the satisfactory control performance.