Continuous Sliding-Mode Controllers for a 3-DoF Helicopter

被引：0
|
作者：
Vazquez, Eli [1 ]
Perez, Ulises [2 ]
Hernandez, Debbie [2 ]
机构：
[1] Cinvestav IPN, Dept Control Automat, Mexico City, DF, Mexico
[2] Univ Nacl Autonoma Mexico, Dept Ingn Control & Robot, Div Ingn Elect, Fac Ingn, Mexico City, DF, Mexico
来源：
2017 14TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATIC CONTROL (CCE) | 2017年
关键词：
DESIGN; ORDER;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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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页数：6
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