Abstract
A combination of two nonlinear control techniques, fractional order sliding mode and feedback linearization control methods, is applied to 3-DOF helicopter model. Increasing of the convergence rate is obtained by using proposed controller without increasing control effort. Because the proposed control law is robust against disturbance, so we only use the upper bound information of disturbance and estimation or measurement of the disturbance is not required. The performance of the proposed control scheme is compared with integer order sliding mode controller and results are justified by the simulation.
Highlights
Helicopters are versatile flight vehicles that can perform aggressive maneuvers because of their unique thrust generation and operation principle
It is clear that the convergence rate in the proposed controller is more than the integer order controller
We presented a combination of two nonlinear control techniques applied to 3-DOF helicopter
Summary
Helicopters are versatile flight vehicles that can perform aggressive maneuvers because of their unique thrust generation and operation principle. H-infinity approach has been used to design a robust control scheme for helicopter [5, 6]. By suitably combining feedforward control actions and high-gain and nested saturation feedback laws, a new control scheme has been presented in [8]. Intelligent methods such as fuzzy [9] and neural network theory [10] have been used to design controller. In [11] a new intelligent control approach based on emotional model of human brain has been presented
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