Design of Integral Augmented Sliding Mode Control for Pitch Angle of a 3-DOF Bench-top Helicopter

Majlesi Journal of Electrical Engineering

مقاله 3، دوره 4، شماره 3، آذر 2010، صفحه 31-35   

نوع مقاله: Review Article

شناسه دیجیتال (DOI): 10.1234/mjee.v4i3.338

نویسندگان

Amir Zaeri^* ؛ Samsul Bahari Mohd Noor؛ Maryam Mohd Isa؛ Farah Saleena Taip

UPM

چکیده

Sliding mode control (SMC) is a nonlinear controller that is used to achieve desired performance in the presence of unstructured uncertainty as a result of carelessness of parameter specification of the system. The main aim for sliding control, or also called Variable Structure Control, is to control the nonlinear plant by introducing a sliding surface. The sliding surface should be reached by making the state of system approach this level. In this paper, an integral augmented sliding mode control (SMC+I) is proposed to improve the control performance of a plant with uncertainty giving the example of bench-top helicopter and the results are compared with the results obtained from conventional sliding mode control with and without a boundary layer.   

کلیدواژه‌ها

sliding mode control؛ en؛ chattering phenomenon؛ Boundary layer؛ Pitch Angel of a 3-DOF Helicopter

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