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Design of Integral Augmented Sliding Mode Control for Pitch Angle of a 3-DOF Bench-top Helicopter

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Author(s): Amir Hossein Zaeri | Samsul Bahari Mohd Noor | Maryam Mohd Isa | Farah Saleena Taip

Journal: Majlesi Journal of Electrical Engineering
ISSN 2008-1413

Volume: 4;
Issue: 3;
Start page: 31;
Date: 2010;
Original page

Keywords: Sliding Mode Control | Chattering Phenomenon | Boundary Layer | Pitch Angel of a 3-DOF Helicopter.

ABSTRACT
Sliding mode control (SMC) is a nonlinear controller that is used to achieve desired performance in the presence of unstructured uncertainty as a result of carelessness of parameter specification of the system. The main aim for sliding control, or also called Variable Structure Control, is to control the nonlinear plant by introducing a sliding surface. The sliding surface should be reached by making the state of system approach this level. In this paper, an integral augmented sliding mode control (SMC+I) is proposed to improve the control performance of a plant with uncertainty giving the example of bench-top helicopter and the results are compared with the results obtained from conventional sliding mode control with and without a boundary layer.
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