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

Héctor Ríos; Antonio Rosales; Alejandra Ferreira; Alejandro Dávila

doi:10.1109/acc.2010.5531051

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

Héctor Ríos, Antonio Rosales, Alejandra Ferreira, Alejandro Dávila

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

22 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Título de la publicación alojada	Proceedings of the 2010 American Control Conference, ACC 2010
Editorial	IEEE Computer Society
Páginas	4427-4432
Número de páginas	6
ISBN (versión impresa)	9781424474264
DOI	https://doi.org/10.1109/acc.2010.5531051
Estado	Publicada - 2010
Publicado de forma externa	Sí

Serie de la publicación

Nombre	Proceedings of the 2010 American Control Conference, ACC 2010

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10.1109/acc.2010.5531051

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Ríos, H., Rosales, A., Ferreira, A., & Dávila, A. (2010). Robust regulation for a 3-DOF helicopter via sliding-modes control and observation techniques. En Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 4427-4432). Artículo 5531051 (Proceedings of the 2010 American Control Conference, ACC 2010). IEEE Computer Society. https://doi.org/10.1109/acc.2010.5531051

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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.",

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Robust regulation for a 3-DOF helicopter via sliding-modes control and observation techniques. / Ríos, Héctor; Rosales, Antonio; Ferreira, Alejandra et al.
Proceedings of the 2010 American Control Conference, ACC 2010. IEEE Computer Society, 2010. p. 4427-4432 5531051 (Proceedings of the 2010 American Control Conference, ACC 2010).

Producción científica: Capítulo del libro/informe/acta de congreso › Contribución a la conferencia › revisión exhaustiva

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AU - Rosales, Antonio

AU - Ferreira, Alejandra

AU - Dávila, Alejandro

PY - 2010

Y1 - 2010

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AB - 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.

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KW - Variable structure control

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

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