Improving Experimental Performance of Sliding Mode Control for a Two-Degree-of-Freedom Helicopter

  • Amir Hussain Zaeri Majlesi Branch, Islamic Azad University
  • Aida Esmailian-Marnani Department of Electrical and Electronic Engineering, Mobarakeh Branch, Islamic Azad University, Mobarakeh, Isfahan, Iran
  • Samsul Bahari Mohd Noor Department of Electrical and Electronic Engineering, University Putra Malaysia, 43400 UPM Serdang, Selangor, Malaysia.

Abstract

In this paper, sliding mode control (SMC) is exploited to control pitch and yaw angles of a nonlinear two-degree-of-freedom (2-DOF) helicopter. Experimental results show that due to chattering phenomenon, SMC cannot control this plant. In order to remove this chattering, a boundary layer is considered around sliding surface but it causes steady-state error in outputs. Therefore, integral augmented is added to conventional SMC (SMC+I) to improve its performance. Finally, the experimental performance comparison between the conventional SMC, the integral augmented SMC and PID control based on linear quadratic regulator algorithm (LQR-PID) are discussed. The results imply to the superior performance of SMC+I method in improving input tracking, control effort, and steady state error for both pitch and yaw angles.

Published
2018-05-18
How to Cite
Zaeri, A. H., Esmailian-Marnani, A., & Mohd Noor, S. (2018). Improving Experimental Performance of Sliding Mode Control for a Two-Degree-of-Freedom Helicopter. Majlesi Journal of Mechatronic Systems, 6(2), 1-18. Retrieved from https://ms.majlesi.info/index.php/ms/article/view/30
Issue
Vol 6 No 2 (2017): June
Section
Articles