Hierarchical Integrative Sliding Mode Control Of A 3-Dof Helicopter

C B de Oliveira Arthur,Bruno A. Angelico

2018 13TH IEEE INTERNATIONAL CONFERENCE ON INDUSTRY APPLICATIONS (INDUSCON)（2018）

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摘要

This paper considers the design of a hierarchical integrative sliding mode controller embedded into a practical 3-DOF helicopter, which is a multivariable nonlinear sub-actuated system. Practical results are compared with simulation considering a complete nonlinear model obtained using the Newton-Euler iterative method.

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关键词

Controlled Systems, Mechanical Systems, Model Based Control, Multivariable Control Systems, Nonlinear Control Systems, Sliding Mode Control

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