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- W2913169623 abstract "Abstract Integral sliding mode (ISM) control which consists of a nominal control and a sliding-mode motion control, provides a nice framework for high tracking performance and good disturbance reduction. Our work develops ISM to attenuate the adverse effect of mismatched perturbations. By properly choosing sliding-manifold surface, the elimination of disturbances on control outputs enables to be achieved. Additionally, the chattering of sliding-mode control part is attenuated based on second-order sliding mode idea. Then, the proposed novel ISM control scheme is applied to address trajectory tracking problem for helicopters under perturbations. Approximated input-output linearization is implemented, such that the obtained linearized model is suitable for applying the proposed ism control. The stability of the closed-loop system for helicopter and its convergence to zeros of tracking errors are demonstrated by Lyapunov theory analysis. Several comparison simulations illustrate the effectiveness and superiority of the proposed methods." @default.
- W2913169623 created "2019-02-21" @default.
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- W2913169623 date "2019-03-01" @default.
- W2913169623 modified "2023-09-26" @default.
- W2913169623 title "Novel integral sliding mode control for small-scale unmanned helicopters" @default.
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- W2913169623 doi "https://doi.org/10.1016/j.jfranklin.2019.01.035" @default.
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