Global non-homogeneous quasi-continuous controller for a 3-DOF helicopter

H. Ríos, Antonio Rosales, A. Dávila

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

9 Citations (Scopus)


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.
Original languageEnglish
Title of host publication2010 11th International Workshop on Variable Structure Systems (VSS)
PublisherIEEE Institute of Electrical and Electronic Engineers
ISBN (Electronic)978-1-4244-5831-8, 978-1-4244-5830-1
ISBN (Print)978-1-4244-5829-5
Publication statusPublished - 2010
MoE publication typeA4 Article in a conference publication


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