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Multiple-surface sliding mode control for 3DOF helicopter

Hamood, Mostafa A. and Akmeliawati, Rini and Legowo, Ari (2011) Multiple-surface sliding mode control for 3DOF helicopter. In: 2011 4th International Conference on Mechatronics: Integrated Engineering for Industrial and Societal Development (ICOM 2011), 17-19 May 2011, Kuala Lumpur, Malaysia.

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Abstract

The three degree of freedom (3DOF) helicopter is a simplified model, which is used to study the behaviours of the helicopters. It is an example of a so-called underactuated mechanical system that has a fewer control inputs than degrees of freedom. Application of multiple-surface sliding mode control to such model looks attractive, because of the ability of this method to stabilize the underatuated systems and to deal with uncertainties, which usually exist in such systems. In this paper, a multiple-surface sliding mode is proposed to control the elevation and travel angles of the 3DOF helicopter.

Item Type: Conference or Workshop Item (Full Paper)
Additional Information: 5806/5373
Uncontrolled Keywords: 3DOF helicopter , Multi sliding surface control , sliding mode control , underactuated mechanical system
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes: Kulliyyah of Engineering > Department of Mechanical Engineering
Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User: Prof. Dr. Rini Akmeliawati
Date Deposited: 14 Nov 2011 15:16
Last Modified: 22 Nov 2011 06:03
URI: http://irep.iium.edu.my/id/eprint/5373

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