Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification

A. Ferreira De Loza, H. Ríos, Antonio Rosales (Corresponding Author)

Research output: Contribution to journalArticleScientificpeer-review

54 Citations (Scopus)

Abstract

This paper tackles the problem of robust output regulation for a 3-DOF helicopter. The considered system is subjected to model uncertainties and external perturbations. A sliding mode observer is used to estimate the state vector in finite time and identify the uncertainties and perturbations using the information of the equivalent output injection. Based on these estimations a robust regulation controller is designed. Experimental results show the feasibility of this approach.
Original languageEnglish
Pages (from-to)700-718
JournalJournal of the Franklin Institute
Volume349
Issue number2
DOIs
Publication statusPublished - 2012
MoE publication typeA1 Journal article-refereed

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