This paper tackles the problem of robust output regulation for a 3-DOF helicopter. The considered system is subjected to model uncertainties and external perturbations. A sliding mode observer is used to estimate the state vector in finite time and identify the uncertainties and perturbations using the information of the equivalent output injection. Based on these estimations a robust regulation controller is designed. Experimental results show the feasibility of this approach. © 2011 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
Ferreira De Loza, A., Ríos, H., & Rosales, A. (2012). Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification. Journal of the Franklin Institute, 700-718. https://doi.org/10.1016/j.jfranklin.2011.09.006