Continuous sliding-mode controllers for a 3-DoF helicopter
2017 14th International Conference on Electrical Engineering, Computing Science and Automatic Control (CCE)（2017）
Abstract
The robust stabilization problem of a 3-degree of freedom helicopter using continuous sliding-mode controllers is addressed in this paper. The sliding output is designed for relative degree equal to one and two, and the desired sliding-mode dynamics using the generalized formula by Ackermann and Utkin. To have available the complete state, a higher-order sliding-mode differentiator is also implemented. The performance of the controller is valued based on the accuracy achieved by the sliding output in simulation and experimental results.
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Key words
3-degree of freedom helicopter,sliding output design,sliding-mode dynamics,Ackermann-Utkin generalized formula,higher-order sliding-mode differentiator,continuous sliding-mode controllers,robust stabilization problem,3-DoF helicopter
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