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

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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.

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