Showing papers by "Hector Rios published in 2010"
29 Jul 2010
TL;DR: In this paper, two robust control strategies for a 3DOF helicopter via sliding-modes techniques are presented, which preserve high position regulation accuracy and robustness to model uncertainties and external disturbances.
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.
25 citations
26 Jun 2010
TL;DR: In this article, the global non homogeneous Quasi-continuous controller is presented in order to preserve high position regulation accuracy and robustness to model uncertainties and external disturbances, and the non-homogeneous differentiator is implemented to obtain exact differentiation in the control strategy.
Abstract: This paper presents a practical design approach to the stabilization of a three degrees of freedom helicopter. In this paper the global non homogeneous Quasi-continuous controller is presented in order to preserve high position regulation accuracy and robustness to model uncertainties and external disturbances. The non-homogeneous differentiator is also implemented to obtain exact differentiation in the control strategy. Simulations and the obtained results on a 3DOF helicopter by Quanser are shown.
9 citations
01 Dec 2010
TL;DR: The proposed method is based on the non-homogeneous high-order sliding mode approach and it is able to reconstruct both the state and operating mode of the switched system based only on measurable outputs.
Abstract: This article presents the problem of finite time reconstruction of the state and operating mode for a class of non-linear switched systems. The proposed method is based on the non-homogeneous high-order sliding mode approach and it is able to reconstruct both the state and operating mode of the switched system based only on measurable outputs. The observability is derived in terms of certain geometric restrictions on the vector fields of the switched system that require the availability of all its modes. The method does not require the system to be transformed to any normal form. Simulation results support the proposed method.
2 citations
26 Jun 2010
TL;DR: In this article, the problem of finite time state observation for a class of non-linear systems with multiple outputs affected by modeling uncertainties and unknown inputs is addressed, based on the non-homogeneous high-order sliding mode control approach.
Abstract: This article presents the problem of finite time state observation for a class of non-linear systems with multiple outputs affected by modeling uncertainties and unknown inputs. The proposed adaptable method is based on the non-homogeneous high-order sliding mode control approach. The observability is derived in terms of certain geometric restrictions on the vector fields of the system. A method for the exact reconstruction of the unknown inputs is stated. The method does not require the system to be transformed to any normal form. Simulation results support the proposed method.
1 citations