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.


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    Title :

    Nonlinear Integral Sliding Mode Control for a Multivariable System, an Experimental Validation


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:

    Conference:

    International Conference on Robotics, Control, Automation and Artificial Intelligence ; 2022 November 24, 2022 - November 26, 2022



    Publication date :

    2023-11-18


    Size :

    11 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English