Robust regulation for a 3-DOF helicopter via sliding-modes control and observation techniques

H. Ríos, Antonio Rosales, A. Ferreira, A. Dávila

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

19 Citations (Scopus)

Abstract

In this paper, two robust control strategies for a 3-DOF Helicopter via sliding-modes techniques are presented. First, quasi-continuous controllers along with a sliding mode differentiator are designed and then the design of classical PID controllers in combination with a second-order sliding mode observer is presented. Both strategies preserve high position regulation accuracy and robustness to model uncertainties and external disturbances. Simulations and experimental results on a 3-DOF Helicopter by Quanser are shown.
Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference
PublisherIEEE Institute of Electrical and Electronic Engineers
ISBN (Electronic)978-1-4244-7427-1, 978-1-4244-7425-7
ISBN (Print)978-1-4244-7426-4
DOIs
Publication statusPublished - 2010
MoE publication typeA4 Article in a conference publication

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