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2010•Majlesi Journal of Electrical EngineeringOpen access

DESIGN OF INTEGRAL AUGMENTED SLIDING MODE CONTROL FOR PITCH ANGLE OF A 3-DOF BENCH-TOP HELICOPTER

Amir Hossein Zaeri, Samsul Bahari Mohd Noor, Maryam Mohd Isa, Farah Saleena Taip

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Abstract

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.

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What this paper is about

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.

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Available abstract

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.

Key concepts: Sliding mode control, Control theory (sociology), Variable structure control, Integral sliding mode, Carelessness, Nonlinear system, Controller (irrigation), Engineering

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DESIGN OF INTEGRAL AUGMENTED SLIDING MODE CONTROL FOR PITCH ANGLE OF A 3-DOF BENCH-TOP HELICOPTER — Research Paper | ScholarLens