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

DOI: 10.1234/mjee.v4i3.338

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

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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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