A nonlinearNonlinear integral sliding mode controller design is proposed for a multivariable systemMultivariable System which possesses inter-axis coupling effects. Real-time disturbances and model uncertainties cannot be predicted a priori in controller design. So, a linear fixed gain controller designed without the knowledge of such unknown disturbances cannot make the system to meet the desired output specifications always. As a measure to overcome this, a robust controlRobust Control algorithm is proposed. The proposed control algorithm is validated on a two degree of freedom helicopter system and the hardware results accentuate the merits of the proposed algorithm.
Nonlinear Integral Sliding Mode Control for a Multivariable System, an Experimental Validation
Lect. Notes Electrical Eng.
International Conference on Robotics, Control, Automation and Artificial Intelligence ; 2022 November 24, 2022 - November 26, 2022
2023-11-18
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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