Global non-homogeneous Quasi-continuous controller for a 3-DOF helicopter

Author

Ríos, Héctor ; Rosales, Antonio ; Dávila, Alejandro

Author_Institution

Programa de Maestria y Doctorado en Ing. Electr., Univ. Nac. Autonoma de Mexico, Mexico City, Mexico

fYear

2010

fDate

26-28 June 2010

Firstpage

475

Lastpage

480

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.

Keywords

control system synthesis; differentiation; helicopters; robust control; variable structure systems; 3-DOF helicopter; Quanser; global nonhomogeneous quasicontinuous controller; nonhomogeneous differentiator; robust control strategy; sliding mode controller; Control systems; Helicopters; Legged locomotion; Mobile robots; Prototypes; Robust control; Robustness; Sliding mode control; Uncertainty; Variable structure systems; Sliding-Modes; Variable Structure Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems (VSS), 2010 11th International Workshop on

Conference_Location

Mexico City

Print_ISBN

978-1-4244-5829-5

Electronic_ISBN

978-1-4244-5830-1

Type

conf

DOI

10.1109/VSS.2010.5544716

Filename

5544716