Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification

A. Ferreira De Loza; H. Ríos; A. Rosales

doi:10.1016/j.jfranklin.2011.09.006

Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification

A. Ferreira De Loza, H. Ríos, A. Rosales

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57 Scopus citations

Abstract

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.

Original language	English
Pages (from-to)	700-718
Number of pages	19
Journal	Journal of the Franklin Institute
Volume	349
Issue number	2
DOIs	https://doi.org/10.1016/j.jfranklin.2011.09.006
State	Published - Mar 2012

Bibliographical note

Funding Information:
The authors gratefully acknowledge the financial support from CONACyT (Consejo Nacional de Ciencia y Tecnología) by means of CVU 270504 and CVU 269450.

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10.1016/j.jfranklin.2011.09.006

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title = "Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification",

abstract = "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.",

author = "{Ferreira De Loza}, A. and H. R{\'i}os and A. Rosales",

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AB - 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.

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Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification

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