Periodic motion stabilization of a virtually constrained 3-DOF underactuated helicopter using second order sliding modes

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

doi:10.1109/VSS.2012.6163539

Periodic motion stabilization of a virtually constrained 3-DOF underactuated helicopter using second order sliding modes

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

Producción científica: Contribución a una revista › Artículo de la conferencia › revisión exhaustiva

5 Citas (Scopus)

Resumen

Second order sliding mode control is developed to solve the tracking control problem to induce periodic behavior in a 3-DOF underactuated helicopter laboratory prototype. Virtual constraints approach for motion planning is considered prior the controller design in order to achieve the control goal. Both state feedback design and dynamic output feedback design with sliding mode velocity observers, running in parallel, are proposed. Performance issues of the proposed controller are illustrated in a numerical study.

Idioma original	Inglés
Número de artículo	6163539
Páginas (desde-hasta)	422-427
Número de páginas	6
Publicación	Proceedings of IEEE International Workshop on Variable Structure Systems
DOI	https://doi.org/10.1109/VSS.2012.6163539
Estado	Publicada - 2012
Publicado de forma externa	Sí
Evento	2012 12th International Workshop on Variable Structure Systems, VSS 2012 - Mumbai, India Duración: 12 ene. 2012 → 14 ene. 2012

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title = "Periodic motion stabilization of a virtually constrained 3-DOF underactuated helicopter using second order sliding modes",

abstract = "Second order sliding mode control is developed to solve the tracking control problem to induce periodic behavior in a 3-DOF underactuated helicopter laboratory prototype. Virtual constraints approach for motion planning is considered prior the controller design in order to achieve the control goal. Both state feedback design and dynamic output feedback design with sliding mode velocity observers, running in parallel, are proposed. Performance issues of the proposed controller are illustrated in a numerical study.",

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Periodic motion stabilization of a virtually constrained 3-DOF underactuated helicopter using second order sliding modes. / Meza-Sánchez, Iliana M.; Orlov, Yury; Aguilar, Luis T.
En: Proceedings of IEEE International Workshop on Variable Structure Systems, 2012, p. 422-427.

Producción científica: Contribución a una revista › Artículo de la conferencia › revisión exhaustiva

TY - JOUR

T1 - Periodic motion stabilization of a virtually constrained 3-DOF underactuated helicopter using second order sliding modes

AU - Meza-Sánchez, Iliana M.

AU - Orlov, Yury

AU - Aguilar, Luis T.

PY - 2012

Y1 - 2012

N2 - Second order sliding mode control is developed to solve the tracking control problem to induce periodic behavior in a 3-DOF underactuated helicopter laboratory prototype. Virtual constraints approach for motion planning is considered prior the controller design in order to achieve the control goal. Both state feedback design and dynamic output feedback design with sliding mode velocity observers, running in parallel, are proposed. Performance issues of the proposed controller are illustrated in a numerical study.

AB - Second order sliding mode control is developed to solve the tracking control problem to induce periodic behavior in a 3-DOF underactuated helicopter laboratory prototype. Virtual constraints approach for motion planning is considered prior the controller design in order to achieve the control goal. Both state feedback design and dynamic output feedback design with sliding mode velocity observers, running in parallel, are proposed. Performance issues of the proposed controller are illustrated in a numerical study.

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DO - 10.1109/VSS.2012.6163539

M3 - Artículo de la conferencia

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SN - 2165-4816

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EP - 427

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 -

Periodic motion stabilization of a virtually constrained 3-DOF underactuated helicopter using second order sliding modes

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