|제목(영문)||Robust Stabilization Technique for the Leader Steering Slung-Load System/Using Sliding Mode Control|
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
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|