Journal ArticleDOI
Robust regulation for a 3-DOF helicopter via sliding-mode observation and identification
TLDR
Experimental results show the feasibility of the robust regulation controller designed in this paper, which is based on a sliding mode observer used to estimate the state vector in finite time and identify the uncertainties and perturbations using the information of the equivalent output injection.Abstract:
This paper tackles the problem of robust output regulation for a 3-DOF helicopter. The considered system is subjected to model uncertainties and external perturbations. A sliding mode observer is used to estimate the state vector in finite time and identify the uncertainties and perturbations using the information of the equivalent output injection. Based on these estimations a robust regulation controller is designed. Experimental results show the feasibility of this approach.read more
Citations
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Journal ArticleDOI
Robust distributed attitude synchronization of multiple three-DOF experimental helicopters
TL;DR: In this article, a distributed synchronization controller is developed for a platform, where each helicopter is subjected to unknown model uncertainties and external disturbances, and the desired trajectories are generated online, communicated through a network and not accessible by all helicopters.
Journal ArticleDOI
Continuous Differentiator Based on Adaptive Second-Order Sliding-Mode Control for a 3-DOF Helicopter
TL;DR: In this article, a control scheme for the regulation and trajectory tracking in spite of external perturbations of the three degrees of freedom (3-DOF) helicopter is presented, which allows reduced control effort, vibration reduction, and accurate tracking.
Journal ArticleDOI
Adaptive NN Backstepping Control Design for a 3-DOF Helicopter: Theory and Experiments
Xuebo Yang,Xiaolong Zheng +1 more
TL;DR: With the help of Lyapunov stability criteria, it is proved that the desired trajectories can be boundedly tracked by the corresponding attitude angles of the helicopter under the proposed adaptive neural network backstepping controller.
Journal ArticleDOI
Nonlinear Robust Attitude Tracking Control of a Table-Mount Experimental Helicopter Using Output Feedback
TL;DR: The experimental results demonstrate that the proposed method can achieve equivalent dynamic and static performance compared to other high-performance state-feedback methods, and even when the initial position is away from design point, it also gives more consistent responses than other linear methods.
Journal ArticleDOI
Robust hierarchical control of a laboratory helicopter
TL;DR: Experimental results on the laboratory helicopter demonstrate the effectiveness of the proposed hierarchical control strategy and prove that the tracking errors of the three angles can converge into the given neighborhoods ultimately.
References
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Book
Sliding Modes in Control and Optimization
TL;DR: The theory and practical application of Lyapunov's Theorem, a method for the Study of Non-linear High-Gain Systems, are studied.
Book
Sliding mode control : theory and applications
TL;DR: This text provides the reader with a grounding in sliding mode control and is appropriate for the graduate with a basic knowledge of classical control theory and some knowledge of state-space methods.
Book
Sliding Mode Control in Engineering
TL;DR: An overview of classical sliding mode control differential inclusions and sliding modeControl high-order sliding modes sliding mode observers dynamic sliding mode Control and output feedback sliding modes, passivity, andflatness stability and stabilization discretization issues.
Proceedings ArticleDOI
A Lyapunov approach to second-order sliding mode controllers and observers
Jaime A. Moreno,Marisol Osorio +1 more
TL;DR: The introduction of a Lyapunov function allows not only to study more deeply the known properties of finite time convergence and robustness to strong perturbations, but also to improve the performance by adding linear correction terms to the algorithm.