Robust Tracking Control of a Quad-Rotor Helicopter Utilizing Sliding Mode Control with a Nonlinear Sliding Surface
スポンサーリンク
概要
- 論文の詳細を見る
This paper presents a sliding mode control using a nonlinear sliding surface (NSS) to design a robust tracking controller for a quad-rotor helicopter. An NSS is designed to provide a variable damping ratio for the closed-loop dynamics of the system to achieve a quick response and low overshoot performance. The dynamics of the quad-rotor helicopter is derived by the Newton-Euler formulation for a rigid body. The global stability of the proposed control strategy is guaranteed on the basis of the Lyapunov stability theory. The robustness and effectiveness of the proposed control system are demonstrated experimentally, providing comparative results with a conventional linear sliding surface. The NSS provides robust tracking control under significant wind gusts.
著者
-
Uchiyama Naoki
Department Of Dermatology Niigata University School Of Medicine
-
UCHIYAMA Naoki
Department of Mechanical Engineering, Toyohashi University of Technology
-
SANO Shigenori
Department of Mechanical Engineering, Toyohashi University of Technology
-
SUMANTRI Bambang
Electronics Engineering Polytechnic Institute of Surabaya (EEPIS)
-
KAWABATA Yuma
Department of Mechanical Engineering, Toyohashi University of Technology
関連論文
- The activity of fatty acid synthase of epidermal keratinocytes is regulated in the lower stratum spinousum and the stratum basale by local inflammation rather than by circulating hormones
- High transepidermal water loss induces fatty acid synthesis and cutaneous fatty acid-binding protein expression in rat skin
- Suppression of Two-Dimensional Load-Sway in Rotary Crane Control Using Only Horizontal Boom Motion
- Geometric Model Based Displacement Analysis System of Mechanisms
- Disassembly Path Generation to Verify the Assemblability of Mechanical Products
- LMI Approach to Robust Control of Rotary Cranes under Load Sway Frequency Variance
- S-Curve Trajectory Generation for Residual Load Sway Suppression in a Rotary Crane System Using Only Horizontal Boom Motion
- Robust Tracking Control of a Quad-Rotor Helicopter Utilizing Sliding Mode Control with a Nonlinear Sliding Surface
- Analysis and Experiment of Residual Load Sway Suppression in Rotary Crane Systems Using Simple Trajectory for Horizontal Boom Motion