Robust regulation for a 3-DOF helicopter via sliding-modes control and observation techniques

Héctor Ríos, Antonio Rosales, Alejandra Ferreira, Alejandro Dávila

Research output: Contribution to conferencePaper

17 Scopus citations

Abstract

In this paper, two robust control strategies for a 3-DOF Helicopter via sliding-modes techniques are presented. First, quasi-continuous controllers along with a sliding mode differentiator are designed and then the design of classical PID controllers in combination with a second-order sliding mode observer is presented. Both strategies preserve high position regulation accuracy and robustness to model uncertainties and external disturbances. Simulations and experimental results on a 3-DOF Helicopter by Quanser are shown. © 2010 AACC.
Original languageAmerican English
Pages4427-4432
Number of pages6
StatePublished - 15 Oct 2010
Externally publishedYes
EventProceedings of the 2010 American Control Conference, ACC 2010 -
Duration: 15 Oct 2010 → …

Conference

ConferenceProceedings of the 2010 American Control Conference, ACC 2010
Period15/10/10 → …

Fingerprint Dive into the research topics of 'Robust regulation for a 3-DOF helicopter via sliding-modes control and observation techniques'. Together they form a unique fingerprint.

  • Cite this

    Ríos, H., Rosales, A., Ferreira, A., & Dávila, A. (2010). Robust regulation for a 3-DOF helicopter via sliding-modes control and observation techniques. 4427-4432. Paper presented at Proceedings of the 2010 American Control Conference, ACC 2010, .