본문 바로 가기

로고

국내 최대 기계·건설 공학연구정보
통합검색 화살표
  • ARMRACK/ART
  • 국내학술지

    19 0
    국내학술지 제목 게시판 내용
    제목(국문)
    제목(영문) Robust Stabilization Technique for the Leader Steering Slung-Load System/Using Sliding Mode Control
    저자 오현식 (Hyun-Shik Oh ,국방과학연구소 ) ▷공저자네트워크등록하기
    탁민재 (Min-Jea Tahk ,the Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology ) ▷공저자네트워크등록하기
    유동완 (Dong Wan Yoo ,Agency for Defense Development ) ▷공저자네트워크등록하기
    이병윤 (Byung Yoon Lee ,AESA Radar R&D Center, Hamwha Systems ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    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.

    keyword Leader steering method, Slung-load system, Sliding mode control
    저널명 International Journal of Aeronational and Space Sciences ▷관련저널보기
    VOL 19
    PAGE 0932
    발표년도 2018
    국문File 국문다운로드
    영문File
    • 페이스북아이콘
    • 트위터 아이콘

    서브 사이드

    서브 우측상단1