This paper presents a practical design approach to the stabilization of a three degrees of freedom helicopter. In this paper the global non homogeneous Quasi-continuous controller is presented in order to preserve high position regulation accuracy and robustness to model uncertainties and external disturbances. The non-homogeneous differentiator is also implemented to obtain exact differentiation in the control strategy. Simulations and the obtained results on a 3DOF helicopter by Quanser are shown.
|Title of host publication||2010 11th International Workshop on Variable Structure Systems (VSS)|
|Publisher||IEEE Institute of Electrical and Electronic Engineers|
|ISBN (Electronic)||978-1-4244-5831-8, 978-1-4244-5830-1|
|Publication status||Published - 2010|
|MoE publication type||A4 Article in a conference publication|