Robust Stabilization Technique for the Leader Steering Slung-Load System/Using Sliding Mode Control
| Autor: | Hyun-Shik Oh, Dong-Wan Yoo, Byung-Yoon Lee, Min-Jea Tahk |
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| Rok vydání: | 2018 |
| Předmět: |
Lyapunov stability
020301 aerospace & aeronautics 0209 industrial biotechnology Computer science MIMO Payload (computing) Control (management) Aerospace Engineering Estimator 02 engineering and technology Sliding mode control Acceleration Nonlinear system 020901 industrial engineering & automation 0203 mechanical engineering Control and Systems Engineering Control theory General Materials Science Electrical and Electronic Engineering |
| Zdroj: | International Journal of Aeronautical and Space Sciences. 19:932-944 |
| ISSN: | 2093-2480 2093-274X |
| Popis: | A multi-lift transportation system, the leader steering slung-load system, is proposed as an alternative to increase the payload of small vehicles. This paper describes a robust stabilization technique for the system using sliding mode control (SMC). SMC is known as a straight-forward design method for the control of nonlinear systems with multi-inputs and multi-outputs (MIMO). The sliding surfaces based on measurable outputs are identified. The control inputs (the acceleration command for each vehicle) are designed. To tune the sliding mode control gains to match the outputs in a one-by-one manner, the control inputs are decomposed. Estimators of the nonmeasurable states are developed. Sliding mode control laws proven under the Lyapunov stability are designed. Finally, simulation results show that stable slung-load transportation can be accomplished using the method suggested. |
| Databáze: | OpenAIRE |
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