Sliding mode control synthesis of a 3-DOF helicopter prototype using position feedback

被引：13

作者：

Starkov, Konstantin K. ^{[1
]}

Aguilar, Luis T. ^{[1
]}

Orlov, Yury ^{[2
]}

机构：

[1] Ctr Invest & Desarrollo Tecnol Digital, Inst Politecn Nacl, 2498 Roll Dr 757, San Diego, CA 92143 USA

[2] CICESE Res Ctr, Dept Elect & Telecommun, San Diego, CA 92143 USA

来源：

2008 INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS | 2008年

关键词：

D O I：

10.1109/VSS.2008.4570713

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 a nonlinear velocity observer, running in parallel, are proposed. Performance and robustness issues of the closed-loop system are illustrated in numerical simulations.

引用

页码：233 / +

页数：3

共 9 条

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