Stabilization of a 3-DOF underactuated helicopter prototype: Second order sliding mode algorithm synthesis, stability analysis, and numerical verification

Iliana M. Meza-Sánchez; Yury Orlov; Luis T. Aguilar

doi:10.1109/VSS.2012.6163529

Stabilization of a 3-DOF underactuated helicopter prototype: Second order sliding mode algorithm synthesis, stability analysis, and numerical verification

Iliana M. Meza-Sánchez, Yury Orlov, Luis T. Aguilar

Centro de Investigación y Desarrollo de Tecnología Digital (CITEDI)

Research output: Contribution to journal › Conference article › peer-review

6 Scopus citations

Abstract

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 are illustrated in a numerical study.

Original language	English
Article number	6163529
Pages (from-to)	361-366
Number of pages	6
Journal	Proceedings of IEEE International Workshop on Variable Structure Systems
DOIs	https://doi.org/10.1109/VSS.2012.6163529
State	Published - 2012
Event	2012 12th International Workshop on Variable Structure Systems, VSS 2012 - Mumbai, India Duration: 12 Jan 2012 → 14 Jan 2012

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abstract = "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 are illustrated in a numerical study.",

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Stabilization of a 3-DOF underactuated helicopter prototype: Second order sliding mode algorithm synthesis, stability analysis, and numerical verification. / Meza-Sánchez, Iliana M.; Orlov, Yury; Aguilar, Luis T.
In: Proceedings of IEEE International Workshop on Variable Structure Systems, 2012, p. 361-366.

Research output: Contribution to journal › Conference article › peer-review

TY - JOUR

T1 - Stabilization of a 3-DOF underactuated helicopter prototype

T2 - 2012 12th International Workshop on Variable Structure Systems, VSS 2012

AU - Meza-Sánchez, Iliana M.

AU - Orlov, Yury

AU - Aguilar, Luis T.

PY - 2012

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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 are illustrated in a numerical study.

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DO - 10.1109/VSS.2012.6163529

M3 - Artículo de la conferencia

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SN - 2165-4816

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EP - 366

JO - Proceedings of IEEE International Workshop on Variable Structure Systems

JF - Proceedings of IEEE International Workshop on Variable Structure Systems

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Y2 - 12 January 2012 through 14 January 2012

ER -

Stabilization of a 3-DOF underactuated helicopter prototype: Second order sliding mode algorithm synthesis, stability analysis, and numerical verification

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