TY - JOUR
T1 - Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification
AU - Ferreira De Loza, A.
AU - Ríos, H.
AU - Rosales, A.
N1 - Funding Information:
The authors gratefully acknowledge the financial support from CONACyT (Consejo Nacional de Ciencia y Tecnología) by means of CVU 270504 and CVU 269450.
PY - 2012/3
Y1 - 2012/3
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=84856437307&partnerID=8YFLogxK
U2 - 10.1016/j.jfranklin.2011.09.006
DO - 10.1016/j.jfranklin.2011.09.006
M3 - Artículo
SN - 0016-0032
VL - 349
SP - 700
EP - 718
JO - Journal of the Franklin Institute
JF - Journal of the Franklin Institute
IS - 2
ER -