.png){kind=icon}
.png){kind=icon}
Return
PID-like sliding mode controller for helicopter attitude regulation
.png){kind=icon}
OA
AI
M
U
L
H
DOI：10.1016/j.mechatronics.2026.103553.png)
.png){kind=icon}
.png){kind=icon}
Share.png){kind=icon}
Save
Abstract
En 中文
This paper presents a gain-design methodology for a Proportional–Integral–Derivative (PID)-like sliding-mode controller applied to the elevation subsystem of a three-degree-of-freedom (3-DOF) helicopter prototype. The dominant elevation dynamics are modeled as a double integrator with static gain, while parasitic effects are represented by a transport delay. The proposed methodology comprises two steps. First, the Robust Feedback Self-Oscillation Test (RFSOT) is employed to identify the magnitude of the parasitic delay. Second, a systematic gain-tuning strategy is developed, based on the describing function approach, to minimize either the amplitude of the fundamental chattering harmonic, the root-mean-square (RMS) value of the control signal or the average power needed to maintain the trajectories of the system in a real sliding mode. The effectiveness of the proposed approach is validated through numerical simulations and real-time experiments conducted on the elevation subsystem of a 3-DOF helicopter laboratory platform.
Keywords:
Mechatronic system estimation
Identification control
Sliding mode control
AI Summary
Key information extracted from the uploaded paper, including a brief overview, abstract, background, key highlights, visual analysis, and future outlook.
Journal
IF:
3.1
Papers:
2.9K
Citations:
5.7K
Organization
Cited Papers