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

A. Ferreira De Loza; H. Ríos; Antonio Rosales

doi:10.1016/j.jfranklin.2011.09.006

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

A. Ferreira De Loza
, H. Ríos
, Antonio Rosales^*

^*Corresponding author for this work

Not published at VTT

Polytechnic University of Hauts-de-France
Universidad Nacional Autónoma de México

Research output: Contribution to journal › Article › Scientific › peer-review

60 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 language	English
Pages (from-to)	700-718
Journal	Journal of the Franklin Institute
Volume	349
Issue number	2
DOIs	https://doi.org/10.1016/j.jfranklin.2011.09.006
Publication status	Published - 2012
MoE publication type	A1 Journal article-refereed

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10.1016/j.jfranklin.2011.09.006

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title = "Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification",

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.",

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AB - 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.

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EP - 718

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

Abstract

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