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.
Bibliographical noteFunding Information:
The authors gratefully acknowledge the financial support from CONACyT (Consejo Nacional de Ciencia y Tecnología) by means of CVU 270504 and CVU 269450.
Copyright 2012 Elsevier B.V., All rights reserved.