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

Marcelino Hector Rios Zarzosa, Antonio Rosales, Alejandra Ferreira, Alejandro Dávila

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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.

Original languageEnglish
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
PublisherIEEE Computer Society
Pages4427-4432
Number of pages6
ISBN (Print)9781424474264
DOIs
StatePublished - 2010
Externally publishedYes

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Keywords

  • 3-DOF
  • Sliding-modes
  • Variable structure control

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