Passivity-Based Integral Sliding Mode Control for Robust Trajectory Tracking in 2-DOF Helicopter Systems

Abstract

This study introduces a robust trajectory-tracking control strategy in a two-degrees-of-freedom (2-DOF) helicopter system, combining passivity theory and integral sliding mode control (ISMC) strengths. The proposed integral passivity-based sliding mode control (IPBSMC) integrates passivity-based energy shaping, which inherently accounts for the system's natural dynamics, with integral sliding mode control to enhance tracking performance and reduce control effort. The controller's effectiveness is validated through simulations and real-time experiments with band-limited white noise disturbances using the Quanser AERO 2 platform interfaced with MATLAB/Simulink. Results indicate good trajectory tracking, with steady-state errors below ±0.2 rad under non-vanishing Gaussian disturbances. The experimental implementation further validates the proposed method's practical applicability and highlights its potential for real-world deployment in coupled systems requiring high accuracy and robustness under varied operating conditions.