Title :
Sliding mode control synthesis of a 3-DOF helicopter prototype using position feedback
Author :
Starkov, Konstantin K. ; Aguilar, Luis T. ; Orlov, Yury
Author_Institution :
Centro de Investig. y Desarrollo de Tecnol. Digital, Inst. Politec. Nac., San Diego, CA
Abstract :
Sliding mode control synthesis is developed for an underactuated mechanical system. A laboratory helicopter prototype is used as a test bed. Both state feedback design and dynamic output feedback design with a nonlinear velocity observer, running in parallel, are proposed. Performance and robustness issues of the closed-loop system are illustrated in numerical simulations.
Keywords :
aircraft control; control system synthesis; helicopters; nonlinear control systems; state feedback; variable structure systems; 3-DOF helicopter prototype; dynamic output feedback design; nonlinear velocity observer; position feedback; sliding mode control synthesis; state feedback design; underactuated mechanical system; Control system synthesis; Helicopters; Laboratories; Mechanical systems; Nonlinear dynamical systems; Output feedback; Prototypes; Sliding mode control; State feedback; Testing;
Conference_Titel :
Variable Structure Systems, 2008. VSS '08. International Workshop on
Conference_Location :
Antalya
Print_ISBN :
978-1-4244-2199-2
Electronic_ISBN :
978-1-4244-2200-5
DOI :
10.1109/VSS.2008.4570713
