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 language||American English|
|Number of pages||6|
|State||Published - 15 Oct 2010|
|Event||Proceedings of the 2010 American Control Conference, ACC 2010 - |
Duration: 15 Oct 2010 → …
|Conference||Proceedings of the 2010 American Control Conference, ACC 2010|
|Period||15/10/10 → …|
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, .