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.
Robust Output Tracking of a 3DOF Helicopter via High-Order Sliding Mode Observers
Advances in Aerospace Guidance, Navigation and Control ; Chapter : 5 ; 67-79
2015-01-01
13 pages
Article/Chapter (Book)
Electronic Resource
English
Aggressive Landing Maneuvers for 3DOF Helicopter UAV
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