Sliding Mode Velocity-observer-based Stabilization of a 3-DOF Helicopter Prototype

Sliding mode control synthesis is developed for an underactuated mechanical system. A laboratory helicopter prototype is used as a test bed. Both state feedback design and dynamic output feedback design with sliding mode velocity observers, running in parallel, are proposed. Performance and robustness issues of the closed-loop system are illustrated in a numerical study. The work is in progress and the conference presentation is going to be supported by experimental results.