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.
|Title of host publication||Proceedings of the 2010 American Control Conference|
|Publisher||IEEE Institute of Electrical and Electronic Engineers|
|ISBN (Electronic)||978-1-4244-7427-1, 978-1-4244-7425-7|
|Publication status||Published - 2010|
|MoE publication type||A4 Article in a conference publication|