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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    Title :

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




    Publication date :

    2015-01-01


    Size :

    13 pages




    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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