Title :
Stabilization of a 3-DOF underactuated helicopter prototype: Second order sliding mode algorithm synthesis, stability analysis, and numerical verification
Author :
Meza-Sánchez, Iliana M. ; Orlov, Yury ; Aguilar, Luis T.
Author_Institution :
Dept. of Appl. Phys., Centro de Investig. Cienc. y de Educ. Super. de Ensenada, Ensenada, Mexico
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 sliding mode velocity observers, running in parallel, are proposed. Performance are illustrated in a numerical study.
Keywords :
control system synthesis; helicopters; observers; stability; state feedback; variable structure systems; velocity control; 3-DOF underactuated helicopter prototype stabilization; dynamic output feedback design; laboratory helicopter prototype; numerical verification; second order sliding mode algorithm synthesis; sliding mode control synthesis; sliding mode velocity observers; stability analysis; state feedback design; underactuated mechanical system; Closed loop systems; Equations; Helicopters; Manifolds; Observers; Output feedback; Prototypes;
Conference_Titel :
Variable Structure Systems (VSS), 2012 12th International Workshop on
Conference_Location :
Mumbai, Maharashtra
Print_ISBN :
978-1-4577-2066-6
Electronic_ISBN :
2158-3978
DOI :
10.1109/VSS.2012.6163529
