Hierarchical Integrative Sliding Mode Control of a 3-DOF Helicopter

机译：三自由度直升机的分层集成滑模控制

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This paper considers the design of a hierarchical integrative sliding mode controller embedded into a practical 3-DOF helicopter, which is a multivariable nonlinear sub-actuated system. Practical results are compared with simulation considering a complete nonlinear model obtained using the Newton-Euler iterative method.

机译：本文考虑了嵌入到实际的3自由度直升机中的分层集成滑模控制器的设计，该直升机是一个多变量非线性子驱动系统。在考虑使用牛顿-欧拉迭代法获得的完整非线性模型的情况下，将实际结果与仿真进行比较。

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来源
《IEEE International Conference on Industry Applications》|2018年|881-886|共6页
会议地点 Sao Paulo(BR)
作者
de Oliveira Arthur C. B.; Bruno A. Angélico;
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作者单位

Dept. of Telecomm. and Control Engineering Escola Politécnica da USP São Paulo Brazil;

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关键词
Solid modeling; Mathematical model; Sliding mode control; Helicopters; Uncertainty; Brushless DC motors;

机译：实体建模；数学模型;滑模控制；直升机；不确定;无刷直流电动机;

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专利

1. Active Fault Tolerant Control Based on Interval Type-2 Fuzzy Sliding Mode Controller and Non Linear Adaptive Observer for 3-DOF Laboratory Helicopter [J] . ISA Transactions . 2017,第期

机译：基于间隔型-2模糊滑动模式控制器的主动容错控制和3 DOF实验室直升机非线性自适应观察者
2. Active fault tolerant control based on interval type-2 fuzzy sliding mode controller and non linear adaptive observer for 3-DOF laboratory helicopter [J] . Zeghlache Samir, Benslimane Tarak, Bouguerra Abderrahmen ISA Transactions . 2017,第Pta2期

机译：基于间隔型-2模糊滑动模式控制器的主动容错控制和3 DOF实验室直升机非线性自适应观察者
3. Nonsingular Terminal Sliding Mode Based Passive Fault-Tolerant Control of a 3-DOF Helicopter System ? [J] . Yang Qiwei, Yang Rui IFAC PapersOnLine . 2018,第24期

机译：基于非终端滑动模式的3-DOF直升机系统的无源容错控制？
4. Hierarchical Integrative Sliding Mode Control of a 3-DOF Helicopter [C] . Arthur C. B. de Oliveira, Bruno A. Angelico IEEE International Conference on Industry Applications . 2018

机译：三维直升机的等级综合滑动模式控制
5. Experimental investigation of the boundary layer-based sliding mode control and single-input model-based sliding mode fuzzy logic control with applications to robot manipulators. [D] . Hasanaj, Edmir Reshit. 2000

机译：基于边界层的滑模控制和基于单输入模型的滑模模糊逻辑控制的实验研究及其在机器人操纵器中的应用。
6. Terminal Sliding Mode Control with a Novel Reaching Law and Sliding Mode Disturbance Observer for Inertial Stabilization Imaging Sensor [O] . Xin Che, Dapeng Tian, Ping Jia, 2020

机译：带有惯性稳定成像传感器的新型趋近律和滑模扰动观测器的终端滑模控制
7. Nonlinear Adaptive Model Following Control for a 3-DOF Model Helicopter [O] . Mitsuaki Ishitobi, Masatoshi Nishi 2010

机译：3 DOF模型直升机控制下的非线性自适应模型

Hierarchical Integrative Sliding Mode Control of a 3-DOF Helicopter

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