eduzhai > Applied Sciences > Engineering >

Adaptive Fast Smooth Second-Order Sliding Mode Control for Attitude Tracking of a 3-DOF Helicopter

  • king
  • (0) Download
  • 20210507
  • Save

... pages left unread,continue reading

Document pages: 10 pages

Abstract: This paper presents a novel adaptive fast smooth second-order sliding modecontrol for the attitude tracking of the three degree-of-freedom (3-DOF)helicopter system with lumped disturbances. Combining with a non-singularintegral sliding mode surface, we propose a novel adaptive fast smoothsecond-order sliding mode control method to enable elevation and pitch anglesto track given desired trajectories respectively with the features ofnon-singularity, adaptation to disturbances, chattering suppression and fastfinite-time convergence. In addition, a novel adaptive-gain smooth second-ordersliding mode observer is proposed to compensate time-varying lumpeddisturbances with the smoother output compared with the adaptive-gainsecond-order sliding mode observer. The fast finite-time convergence of theclosed-loop system with constant disturbances and the fast finite-timeuniformly ultimately boundedness of the closed-loop system with thetime-varying lumped disturbances are proved with the finite-time Lyapunovstability theory. Finally, the effectiveness and superiority of the proposedcontrol methods are verified by comparative simulation experiments.

Please select stars to rate!

         

0 comments Sign in to leave a comment.

    Data loading, please wait...
×