Robust position regulation of a 2-DOF experimental helicopter using higher order super twisting sliding mode control
Year: 2024
Type: article
Abstract: This study presents a third-order super twisting sliding mode control algorithm for robust position regulation of a two-degree-of-freedom (2-DOF) experimental helicopter. The proposed approach explores high-order sliding mode control, offering advantages such as finite-time convergence and continuous control signals. The controller is implemented and validated on the Quanser Aero 2 platform, an inherently unstable and nonlinear system that presents significant challenges for control design including cross-coupling effects, model uncertainties, and external disturbances. Extensive simulations and experimental results are presented to validate the efficacy and robustness of the proposed control strategy. They highlight the controller's ability to achieve precise position control while significantly mitigating the chattering phenomenon, a common drawback associated with traditional sliding mode control. This study contributes to the field of nonlinear control systems by demonstrating the potential of high-order sliding mode control in managing nonlinear, coupled dynamic systems. The successful implementation on a real-world platform underscores the practical applicability of the proposed method in aerospace and robotics applications.
Authors: Ratiba Fellag, Mahmoud Belhocine
Institution: Centre de Développement des Technologies Avancées
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4402714664