2-sliding mode based robust control for 2-DOF helicopter

Ahmed, Qadeer; Bhatti, Aamer Iqbal; Iqbal, Sohail; Kazmi, I. H.

doi:10.1109/vss.2010.5544531

Cited by 36 publications

(9 citation statements)

References 5 publications

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“…However, standard sliding-mode produces a chattering effect, which can cause undesirable mechanical vibrations in the controlled system [6]. A method for suppressing the chattering effect is by means of a SOSM technique [13,14]. The SOSM technique generalizes the idea of the standard sliding-modes to restrict movement to the switching surface while maintaining null its first derivative.…”

Section: Introductionmentioning

confidence: 99%

“…The SOSM technique generalizes the idea of the standard sliding-modes to restrict movement to the switching surface while maintaining null its first derivative. This controller can be applied to systems where the control input appears in the first derivative of the sliding variable [13][14][15]. A significant SOSM technique for feedback systems is the super-twisting algorithm, which is applied for systems with relative degree one.…”

Section: Introductionmentioning

confidence: 99%

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Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

et al. 2020

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A DC motor velocity control in feedback systems usually requires a velocity sensor, which increases the controller cost. Additionally, the velocity sensor used in industrial applications presents several disadvantages such as maintenance requirements and signal conditioning. In this work, we propose a robust velocity control scheme applied to a DC motor based on estimation strategies using a sliding-mode observer. This means that measurements with mechanical sensors are not required in the controller design. The proposed observer estimates the rotational velocity and load torque of the motor. The controller design applies the exact-linearization technique combined with the super-twisting algorithm to achieve robust performance in the closed-loop system. The controller validation was carried out by experimental tests using a workbench, which is composed of a control and data acquisition Digital Signal Proccessor board, a DC-DC electronic converter, an interface board for signals conditioning, and a DC electric generator connected to an adjustable resistive load. The simulation and experimental results show a significant performance of the proposed control scheme. During tests, the accuracy, robustness, and speed response on the controller were evaluated and the experimental results were compared with a classic proportional-integral controller, which uses a conventional encoder.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

et al. 2020

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“…Control of helicopter system has been investigated using many control techniques. This includes conventional PID control in [1], linear quadratic regulator (LQR) control in [2], and some advanced controllers including model predictive control (MPC) in [3], [4], robust sliding mode control in [5], nonlinear H ∞ control in [6]. In practice, it is often required to consider the case where the plant to be controlled is uncertain.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Backstepping Control of a 2-DOF Helicopter

Schlanbusch

Zhou

2019

2019 7th International Conference on Control, Mechatronics and Automation (ICCMA)

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This paper proposes an adaptive nonlinear controller for a 2-Degree of Freedom (DOF) helicopter. The proposed controller is designed using backstepping control technique and is used to track the pitch and yaw position references independently. A MIMO nonlinear mathematical model is derived for the 2DOF helicopter based on Euler-Lagrange equations, where the system parameters and the control coefficients are uncertain. Unlike some existing control schemes for the helicopter control, the developed controller does not require the knowledge on the system uncertain parameters. Updating laws are used to estimate the unknown parameters. It is shown that not only the global stability is guaranteed by the proposed controller, but also asymptotic tracking and transient performances are quantified as explicit functions of the design parameters. Simulations and experiments are carried out on the Quanser helicopter to validate the effectiveness, robustness and control capability of the proposed scheme.

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“…Besides, (Marconi and Naldi, 2007) developed the design of the helicopter control in roll, pitch and yaw attitude, starting from a combination of the feedforward control actions and high gain and nested saturation feedback laws, a nonlinear controller has been used. Then, in (Ahmed et al, 2010), a robust control algorithm is given by sliding mode super twisting control to overcome the adverse effects on helicopter flight due the mass distribution variation. The performances of the synthesized control laws are highlighted by simulation and experimental tests.…”

Section: Introductionmentioning

confidence: 99%

Modelling and fixed order robust H∞ control of aerial vehicle: simulation and experimental results

Chabir

Boukhnifer

Bouteraa

et al. 2016

COMPEL - The International Journal for Computation and Mathematics in Electrical and Electronic Engineering

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Purpose This work focuses on modelling, robust controller design and real time control of 3-DOF Helicopter. Design/methodology/approach This study presents an improved H∞ controller for this aerial vehicle Findings Simulation and experiment results are addressed to demonstrate the capability of this proposed control strategy to counteract the effect of this disturbance Originality/value In order to reduce the complexity of the standard H∞ structure, a fixed order control design is proposed as original approach

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2-sliding mode based robust control for 2-DOF helicopter

Cited by 36 publications

References 5 publications

Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Super-Twisting Algorithm Applied to Velocity Control of DC Motor without Mechanical Sensors Dependence

Adaptive Backstepping Control of a 2-DOF Helicopter

Modelling and fixed order robust H∞ control of aerial vehicle: simulation and experimental results

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