Name
Abstract | ||
|---|---|---|
This paper presents an adaptive sliding mode control scheme using slack variables for affine and underactuated nonlinear systems. Slack variables are introduced to overcome the underactuated properties. A proper slack variable generating method is proposed to guarantee the stability of the proposed controller. Lyapunov stability theorem and LaSalle's invariance theorem are used to analyze the stability of the proposed nonlinear control scheme. Numerical simulations are performed for a quadrotor Unmanned Aerial Vehicle, one of the affine underactuated systems, to verify the proposed control scheme. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/CDC.2012.6426837 | CDC |
Keywords | Field | DocType |
adaptive sliding mode control,invariance,affine underactuated nonlinear systems,underactuated properties,helicopters,slack variable generating method,nonlinear control system stability analysis,autonomous aerial vehicles,lyapunov stability theorem,quadrotor unmanned aerial vehicle,adaptive control,nonlinear control systems,actuators,stability,numerical simulations,lasalle invariance theorem,lyapunov methods,variable structure systems | Affine transformation,Mathematical optimization,Slack variable,Control theory,Computer science,Control theory,Nonlinear control,Lyapunov stability,Adaptive control,Underactuation,Sliding mode control | Conference |
ISSN | ISBN | Citations |
0743-1546 E-ISBN : 978-1-4673-2064-1 | 978-1-4673-2064-1 | 1 |
PageRank | References | Authors |
0.39 | 3 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Min-Gu Kim | 1 | 1 | 1.74 |
| Youdan Kim | 2 | 359 | 32.98 |
| Jaiung Jun | 3 | 1 | 0.39 |