Experiment of Sliding Mode Control with Nonlinear Sliding Surface Design for a 3-DOF Helicopter Model

被引：1

作者：

Guzey, Umit M. ^{[1
]}

Copur, Engin H. ^{[3
]}

Ozcan, Sinan ^{[2
]}

Arican, A. Cagri ^{[1
]}

Kocagil, B. Mahmut ^{[1
]}

Salamci, Metin U. ^{[1
]}

机构：

[1] Gazi Univ, Dept Mech Engn, TR-06570 Ankara, Turkey

[2] Turkish Aerosp, TR-06980 Ankara, Turkey

[3] Necmettin Erbakan Univ, Dept Space & Satellite Engn, TR-42090 Konya, Turkey

来源：

2019 XXVII INTERNATIONAL CONFERENCE ON INFORMATION, COMMUNICATION AND AUTOMATION TECHNOLOGIES (ICAT 2019) | 2019年

关键词：

SDRE; Sliding Mode Control; Optimal Sliding Surface; Robust Control; Real-time control; UNCERTAIN DYNAMICAL-SYSTEMS;

D O I：

10.1109/icat47117.2019.8938941

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Sliding Mode Control (SMC) is one of the effective robust control techniques against external disturbances, parameter uncertainties and unmodelled dynamics. However, there is no certain way to design the sliding surface (SS) for nonlinear systems, which has a key role in satisfying the stability and performance criteria. Thus, an optimal method can be useful in the design process of SS to deal with these weaknesses. In this study, State Dependent Riccati Equation (SDRE) based SMC is used to control the motion of a laboratory helicopter in two axes, namely travel and elevation axes. Experimental evaluation is performed using this 3-DOF helicopter platform and results are compared against a SMC with linear time-invariant SS to establish the efficacy of the approach. Therefore, this study presents experimental investigation for establishing the feasibility of the proposed optimal robust control architecture.

引用

页数：6

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