TY - JOUR
T1 - Output sliding mode-based stabilization of underactuated 3-DOF helicopter prototype and its experimental verification
AU - Meza-Sánchez, Marlen
AU - Aguilar, Luis T.
AU - Orlov, Yury
N1 - Publisher Copyright:
Copyright © 2015 The Franklin Institute. Published by Elsevier Ltd.
PY - 2015
Y1 - 2015
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 a sliding mode velocity observer, running in parallel, are proposed. Performance and robustness issues of the closed-loop system are illustrated in an experimental study.
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 a sliding mode velocity observer, running in parallel, are proposed. Performance and robustness issues of the closed-loop system are illustrated in an experimental study.
UR - http://www.scopus.com/inward/record.url?scp=84933278257&partnerID=8YFLogxK
U2 - 10.1016/j.jfranklin.2015.01.010
DO - 10.1016/j.jfranklin.2015.01.010
M3 - Artículo
SN - 0016-0032
VL - 352
SP - 1580
EP - 1594
JO - Journal of the Franklin Institute
JF - Journal of the Franklin Institute
IS - 4
ER -