Sliding Mode Control with Linear Quadratic Regulator Augmented with Integrators Applied to a 2DOF Helicopter
Fernando dos Santos Barbosa1; Fabio Yukio Toriumi2; Bruno Augusto Angélico2
1 KTH Royal Institute of Technology; 2 Universidade de São Paulo (USP)
Baixar PDF doi:10.20906/CPS/CBA2018-1049
Resumo
It is proposed the use of Sliding Mode Control (SMC) with Linear Quadratic Regulator (LQR) when augmented with integrators: the former guarantees robustness against model uncertainty and external disturbance while the latter adds tracking capability with null steady-state error for step inputs. Besides, only the first derivative of the reference is required for trajectory tracking. The $\eta$-reachability condition is studied for a manifold based on the tracking error. The methodology of inserting integrators at the input of the linear controller is also described, and the proposed control scheme is applied to a 2DOF Helicopter.
Palavras-chave: Integral Sliding Mode; Linear Quadratic Regulator; Trajectory Tracking; 2DOF Helicopter