Third Order Super Twisting Based Robust Tracking of 2-DOF Helicopter with State Estimation

Ratiba Fellag, Mahmoud Belhocine

2024

Abstract

This study proposes a third-order super-twisting sliding mode control algorithm combined with a Luenberger state observer for robust trajectory tracking of a two-degree-of-freedom (2-DOF) experimental helicopter. Validated on the inherently unstable and nonlinear Quanser Aero 2 platform, the method offers finite-time convergence and continuous control signals while estimating unmeasured states. The controller demonstrates accurate angular position tracking despite cross-coupling, limited measurements, uncertainties, and disturbances, effectively reducing the chattering phenomenon typically seen in conventional sliding mode control. Experimental results confirm the approach's efficacy and robustness in trajectory tracking the 2-DOF helicopter system.

Paper Citation

in Harvard Style

Fellag R. and Belhocine M. (2024). Third Order Super Twisting Based Robust Tracking of 2-DOF Helicopter with State Estimation. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 480-485. DOI: 10.5220/0013059700003822

in Bibtex Style

@conference{icinco24,
author={Ratiba Fellag and Mahmoud Belhocine},
title={Third Order Super Twisting Based Robust Tracking of 2-DOF Helicopter with State Estimation},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={480-485},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013059700003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Third Order Super Twisting Based Robust Tracking of 2-DOF Helicopter with State Estimation
SN - 978-989-758-717-7
AU - Fellag R.
AU - Belhocine M.
PY - 2024
SP - 480
EP - 485
DO - 10.5220/0013059700003822
PB - SciTePress