TY - GEN
T1 - Sliding mode velocity-observer-based stabilization of a 3-dof helicopter prototype
AU - Orlov, Yuri
AU - Meza-Sánchez, Marlen
AU - Aguilar, Luis T.
PY - 2009
Y1 - 2009
N2 - Sliding mode control synthesis is developed for an underactuated mechanical system. A laboratory helicopter prototype is used as a test bed. Both state feedback design and dynamic output feedback design with sliding mode velocity observers, running in parallel, are proposed. Performance and robustness issues of the closed-loop system are illustrated in a numerical study. The work is in progress and the conference presentation is going to be supported by experimental results.
AB - Sliding mode control synthesis is developed for an underactuated mechanical system. A laboratory helicopter prototype is used as a test bed. Both state feedback design and dynamic output feedback design with sliding mode velocity observers, running in parallel, are proposed. Performance and robustness issues of the closed-loop system are illustrated in a numerical study. The work is in progress and the conference presentation is going to be supported by experimental results.
KW - Helicopter
KW - Robust stabilizability
KW - Sliding-mode control
KW - Velocity observer
UR - http://www.scopus.com/inward/record.url?scp=77956585865&partnerID=8YFLogxK
U2 - 10.3182/20090616-3-IL-2002.0044
DO - 10.3182/20090616-3-IL-2002.0044
M3 - Contribución a la conferencia
AN - SCOPUS:77956585865
SN - 9783902661456
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 179
EP - 184
BT - ROCOND'09 - 6th IFAC Symposium on Robust Control Design, Proceedings
T2 - 6th IFAC Symposium on Robust Control Design, ROCOND'09
Y2 - 16 June 2009 through 18 June 2009
ER -