Title :
Observer-based adaptive super twisting control strategy for a 2-DOF Helicopter
Author :
Salas, Oscar ; Castañeda, Herman ; DeLeon-Morales, Jesus
Author_Institution :
Dept. of Electr. Eng., Univ. of Nuevo Leon, San Nicolas de los Garza, Mexico
Abstract :
In this paper, an adaptive super twisting control algorithm (ASTA) for a 2-DOF Helicopter is presented. In order to implement the ASTA control, a Nonlinear Extended State Observer (NESO) is used to estimate the unmeasured dynamics. Furthermore, the proposed control scheme increase robustness under non modeled dynamics and external disturbance, avoiding overestimate the gain. Experimental results are given to illustrate the performance of the proposed control scheme.
Keywords :
adaptive control; aircraft control; observers; robust control; 2-DOF helicopter; ASTA control; NESO; external disturbance; nonlinear extended state observer; nonmodeled dynamics; observer-based adaptive super twisting control strategy; robustness; unmeasured dynamics estimation; Aerodynamics; Helicopters; Mathematical model; Nonlinear dynamical systems; Observers; Rotors; Uncertainty;
Conference_Titel :
Unmanned Aircraft Systems (ICUAS), 2013 International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4799-0815-8
DOI :
10.1109/ICUAS.2013.6564795
