Adaptive Fast Smooth Second-Order Sliding Mode Control for Attitude Tracking of a 3-DOF Helicopter
Abstract
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding mode surface, we propose a novel adaptive fast smooth second-order sliding mode control method to enable elevation and pitch angles to track given desired trajectories respectively with the features of non-singularity, adaptation to disturbances, chattering suppression and fast finite-time convergence. In addition, a novel adaptive-gain smooth second-order sliding mode observer is proposed to compensate time-varying lumped disturbances with the smoother output compared with the adaptive-gain second-order sliding mode observer. The fast finite-time convergence of the closed-loop system with constant disturbances and the fast finite-time uniformly ultimately boundedness of the closed-loop system with the time-varying lumped disturbances are proved with the finite-time Lyapunov stability theory. Finally, the effectiveness and superiority of the proposed control methods are verified by comparative simulation experiments.
- Publication:
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arXiv e-prints
- Pub Date:
- August 2020
- DOI:
- 10.48550/arXiv.2008.10817
- arXiv:
- arXiv:2008.10817
- Bibcode:
- 2020arXiv200810817W
- Keywords:
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- Electrical Engineering and Systems Science - Systems and Control
- E-Print:
- 10 pages,11 figures