Title of article :
Design of Integral Augmented Sliding Mode Control for Pitch Angle of a 3-DOF Bench-top Helicopter
Author/Authors :
Zaeri, Amir Hossein Department of Electrical and Electronic Engineering - University Putra Malaysia , Mohd Noor, Samsul Bahari Department of Electrical and Electronic Engineering - University Putra Malaysia , Mohd Isa, Maryam Department of Electrical and Electronic Engineering - University Putra Malaysia , Saleena Taip, Farah Department of Process and Food Engineering Engineering - University Putra Malaysia
Abstract :
Sliding mode control (SMC) is a nonlinear controller that is used to achieve desired performance in the presence of
unstructured uncertainty as a result of carelessness of parameter specification of the system. The main aim for sliding
control, or also called Variable Structure Control, is to control the nonlinear plant by introducing a sliding surface. The
sliding surface should be reached by making the state of system approach this level. In this paper, an integral
augmented sliding mode control (SMC+I) is proposed to improve the control performance of a plant with uncertainty
giving the example of bench-top helicopter and the results are compared with the results obtained from conventional
sliding mode control with and without a boundary layer.
Keywords :
Sliding Mode Control , Chattering Phenomenon , Boundary Layer , Pitch Angel of a 3-DOF Helicopter
Journal title :
Astroparticle Physics
