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Hybrid high-order sliding mode-based control for multivariable cross-coupling systems: Scale-laboratory helicopter system application

Published online by Cambridge University Press:  27 June 2017

B. Kada ,
K.A.T. Juhany  and
A.S.A. Balamesh
B. Kada*
Affiliation:
Department of Aeronautical Engineering, King Abdulaziz University, Jeddah, Saudi Arabia
K.A.T. Juhany
Affiliation:
Department of Aeronautical Engineering, King Abdulaziz University, Jeddah, Saudi Arabia
A.S.A. Balamesh
Affiliation:
Department of Electrical and Computer Engineering, King Abdulaziz University, Jeddah, Saudi Arabia
*
bkada@kau.edu.sa
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Abstract

This paper presents a high-order sliding mode approach to design variable structure controllers for nonlinear multivariable cross-coupling systems whereby a change in either control input affects the control loops of all the subsystems dynamics. A hybrid-sliding mode control (hybrid-SMC) scheme is constructed combining a new equivalent control algorithm with a high-order discontinuous control algorithm to benefit from the advantages of both control strategies. The hybrid-SMC scheme uses weighting coefficients to weight and combine controllers. The equivalent control algorithm uses a relative degree concept through dynamic constraints imposed on the sliding variables to overcome the limitations of the conventional approaches and to provide an optimum tracking performance. A scale-laboratory helicopter model is used to sum up the main features and demonstrate the effectiveness of the developed control scheme. The proposed hybrid-SMC strategy is compared to existing sliding mode-based control approaches in terms of tracking performance, stability and control efforts. The obtained results demonstrate the validity and efficiency of the proposed hybrid-SMC scheme.

Keywords

cross-coupled controlhybrid sliding mode controlhelicopter control applicationhigh-order sliding modenonlinear multivariable systemsrobust control
Type
Research Article
Information
The Aeronautical Journal , Volume 121 , Issue 1243 , September 2017 , pp. 1319 - 1341
Copyright
Copyright © Royal Aeronautical Society 2017 

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