Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System

Yang Qiwei, Yang Rui

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


In this paper, a new passive fault-tolerant controller for 3-DOF helicopter is designed. The 3-DOF helicopter is an underactuated system, which has three degrees of freedom, however, only two control inputs. Here two virtual components related to only one control input are introduced, which when combined with other control input decouple the 3-DOF helicopter system into three separate subsystems. For each subsystem, a passive fault-tolerant controller is constructed based on nonsingular terminal sliding mode method, achieving attitude angle tracking. Finally, simulations are conducted to verify the effectiveness of the proposed scheme.

Original languageEnglish
Pages (from-to)1368-1372
Number of pages5
Journal10th IFAC Symposium on Fault Detection, Supervision and Safety for Technical Processes SAFEPROCESS 2018: Warsaw, Poland, 29-31 August 2018
Issue number24
Publication statusPublished - 2018
Externally publishedYes


  • 3-DOF helicopter
  • actuator failure
  • passive fault-tolerant control
  • sliding mode control

Cite this