This paper tackles the output tracking problem of a MIMO system subjected to actuator faults and unmatched perturbations. The proposed methodology is based on high order sliding mode observation and identification techniques. A dynamic sliding surface is proposed using a nested-backward design strategy in order to counteract the effects of the unmatched perturbations. A super-twisting control is used to steer the state to the sliding surface. The identified value of the fault is injected to alleviate the control gain while accomplishing fault accommodation. As a consequence, the chattering is attenuated. A simulation example for a 3-DOF helicopter highlights the efficiency of the present method.


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    Titel :

    Robust Output Tracking of a 3DOF Helicopter via High-Order Sliding Mode Observers


    Beteiligte:
    Bordeneuve-Guibé, Joël (Herausgeber:in) / Drouin, Antoine (Herausgeber:in) / Roos, Clément (Herausgeber:in) / de Loza, Alejandra Ferreira (Autor:in) / Cieslak, Jérome (Autor:in) / Henry, David (Autor:in) / Zolghadri, Ali (Autor:in) / Fridman, Leonid (Autor:in)


    Erscheinungsdatum :

    01.01.2015


    Format / Umfang :

    13 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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