Combined Attitude Control of an Underactuated Helicopter Experimental System
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چکیده
In this paper, combined attitude control of an underactuated helicopter experimental system is considered. The controlled helicopter experimental system has two inputs and three outputs, namely, this system is underactuated. The combined attitude controller includes a nonlinear MIMO controller based on adaptive sliding mode control and non-adaptive nonlinear controllers. Control system stability is guaranteed by Lyapunov function based proof. Comparing simulation between the existed design method and the proposed design method shows the effectiveness of the proposed method.
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تاریخ انتشار 2008