Experiment of Sliding Mode Control with Nonlinear Sliding Surface Design for a 3-DOF Helicopter Model

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dc.contributor.authorGuzey, Umit M.
dc.contributor.authorCopur, Engin H.
dc.contributor.authorOzcan, Sinan
dc.contributor.authorArican, A. Cagri
dc.contributor.authorKocagil, B. Mahmut
dc.contributor.authorSalamci, Metin U.
dc.date.accessioned2024-02-23T14:23:52Z
dc.date.available2024-02-23T14:23:52Z
dc.date.issued2019
dc.departmentNEÜen_US
dc.description27th International Conference on Information, Communication and Automation Technologies (ICAT) -- OCT 10-13, 2019 -- Sarajevo, BOSNIA & HERCEGen_US
dc.description.abstractSliding Mode Control (SMC) is one of the effective robust control techniques against external disturbances, parameter uncertainties and unmodelled dynamics. However, there is no certain way to design the sliding surface (SS) for nonlinear systems, which has a key role in satisfying the stability and performance criteria. Thus, an optimal method can be useful in the design process of SS to deal with these weaknesses. In this study, State Dependent Riccati Equation (SDRE) based SMC is used to control the motion of a laboratory helicopter in two axes, namely travel and elevation axes. Experimental evaluation is performed using this 3-DOF helicopter platform and results are compared against a SMC with linear time-invariant SS to establish the efficacy of the approach. Therefore, this study presents experimental investigation for establishing the feasibility of the proposed optimal robust control architecture.en_US
dc.description.sponsorshipTurkish Aerospace [DKTM/2015/07]en_US
dc.description.sponsorshipThis work was supported under DKTM/2015/07 project by Turkish Aerospace.en_US
dc.identifier.doi10.1109/icat47117.2019.8938941
dc.identifier.isbn978-1-7281-4543-3
dc.identifier.scopus2-s2.0-85078258931en_US
dc.identifier.urihttps://doi.org/10.1109/icat47117.2019.8938941
dc.identifier.urihttps://hdl.handle.net/20.500.12452/13733
dc.identifier.wosWOS:000526391600012en_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.indekslendigikaynakScopusen_US
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartof2019 Xxvii International Conference On Information, Communication And Automation Technologies (Icat 2019)en_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectSdreen_US
dc.subjectSliding Mode Controlen_US
dc.subjectOptimal Sliding Surfaceen_US
dc.subjectRobust Controlen_US
dc.subjectReal-Time Controlen_US
dc.titleExperiment of Sliding Mode Control with Nonlinear Sliding Surface Design for a 3-DOF Helicopter Modelen_US
dc.typeConference Objecten_US

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