TY - GEN
T1 - Output feedback second order sliding mode control design for a 3-DOF helicopter based on its simplified model
AU - Mérida-Rubio, Jován
AU - Aguilar, Luis T.
PY - 2010
Y1 - 2010
N2 - This paper presents the solution to the tracking control problem for an underactuated scaled autonomous helicopter using variable structure control via output measurements. First, it is designed a state-feedback second order sliding mode controller to stabilize height and rotation positions. Controller is designed from a reduced model of the helicopter and the resulting control law is tested in its full model thus showing the robustness against unmodelled dynamics. Simulation results illustrate the performance the effectiveness of the controller.
AB - This paper presents the solution to the tracking control problem for an underactuated scaled autonomous helicopter using variable structure control via output measurements. First, it is designed a state-feedback second order sliding mode controller to stabilize height and rotation positions. Controller is designed from a reduced model of the helicopter and the resulting control law is tested in its full model thus showing the robustness against unmodelled dynamics. Simulation results illustrate the performance the effectiveness of the controller.
UR - http://www.scopus.com/inward/record.url?scp=77956591673&partnerID=8YFLogxK
U2 - 10.1109/VSS.2010.5544663
DO - 10.1109/VSS.2010.5544663
M3 - Contribución a la conferencia
AN - SCOPUS:77956591673
SN - 9781424458318
T3 - Proceedings of the 2010 11th International Workshop on Variable Structure Systems, VSS 2010
SP - 364
EP - 369
BT - Proceedings of the 2010 11th International Workshop on Variable Structure Systems, VSS 2010
T2 - 2010 11th International Workshop on Variable Structure Systems, VSS 2010
Y2 - 26 June 2010 through 28 June 2010
ER -