Discrete-time Sliding Mode Controller for Multivariable System of 3 DOF Laboratory Helicopter

被引：0
作者：
Kurniawan, Edi [1 ,2 ]
Suryadi, Suryadi [1 ]
Affandi, Imam [1 ]
机构：
[1] Indonesian Inst Sci, Res Ctr Phys, Tangerang 15314, Selatan, Indonesia
[2] STMIK AKAKOM, Yogyakarta 55198, Indonesia
来源：
2019 INTERNATIONAL CONFERENCE ON COMPUTER, CONTROL, INFORMATICS AND ITS APPLICATIONS (IC3INA) | 2019年
关键词：
sliding mode control; 3 DOF Helicopter; PID; LQR; multivariable system; ATTITUDE-CONTROL;
D O I：
10.1109/ic3ina48034.2019.8949578
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a sliding mode control design for attitude control of 3 degree-of-freedom (DOF) laboratory helicopter. The controlled plant is a linearized multivariable system with different number of inputs and outputs. In this model, there are three degrees of freedom (three outputs) and two underactuated inputs. These facts make it difficult to design controller capable of keeping all the outputs to accurately follow the command. Discrete-time sliding mode control strategy based on reaching law is presented here. Simulation on 3 DOF laboratory helicopter model is conducted to validate the presented control strategy. A comparison study with Proportional-Integral-Derivative (PID) based Linear-Quadratic Regulator (LQR) is also presented. Simulation results show the SMC control strategy performs better tracking performance compared to PID based LQR.
引用
收藏
页码：151 / 155
页数：5
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