Adaptive sliding mode control using slack variables for affine underactuated systems

Kim, Mingu; Kim, Youdan; Jun, Jaiung

doi:10.1109/cdc.2012.6426837

Cited by 13 publications

(12 citation statements)

References 11 publications

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“…Padhi et al [25] introduced a slack variable vector and a slack variable matrix to make the control-effective matrix invertible. The proposed method has been successfully implemented in the SMC design for underactuated systems [24,36,37]. After applying the slack-variable approach, Equation (10) can be transformed into the following square dynamics.…”

Section: Rotorcraft Model Descriptionmentioning

confidence: 99%

“…Therefore, the slack control vector u s does not affect the closed-loop system in this structure. Even so, ν will be designed using an adaptive update law as it was proposed by Kim et al [24].…”

Section: Rotorcraft Model Descriptionmentioning

confidence: 99%

“…The I&Ibased DOB is then combined with an adaptive backstepping control (ABSC). To effectively reduce design parameters and simplify the design process, a slack-variable approach [22][23][24][25] is adopted to deal with the underactuated system rather than the traditional hierarchical approach [26] or block-BSC approach [27]. The combined ABSC structure with the I&I-based DOB can effectively decouple the adaptive components and the slack variable update laws.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control

Choi

Lee

et al. 2022

International Journal of Aerospace Engineering

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This paper investigates an adaptive backstepping control based on the immersion-and-invariance (I&I) method for a rotorcraft’s trajectory-tracking control problem. To effectively cope with both parametric uncertainties and external disturbances affecting all forces and moments of a rotorcraft, the I&I-based disturbance observer is designed and combined with an adaptive backstepping controller. During the design process, a simple form of the observer structure is suggested, and the performance of the observer is analyzed using a candidate Lyapunov function. Then, the closed-loop stability of the adaptive controller is analyzed for both time-invariant and time-varying disturbances. Additionally, the tuning function-based adaptive backstepping controller is designed and used to investigate the outperformance achievable with the proposed method. Finally, comparative simulation results using a high-fidelity rotorcraft math model is provided to show the effectiveness of the proposed strategy.

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Section: Rotorcraft Model Descriptionmentioning

confidence: 99%

Section: Rotorcraft Model Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control

Choi

Lee

et al. 2022

International Journal of Aerospace Engineering

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“…In Ref. 18, an adaptive sliding mode control scheme was proposed for underactuated affine nonlinear systems. In order to make the gain matrix square, slack variables were applied.…”

Section: Introductionmentioning

confidence: 99%

Observer based robust neuro-adaptive control of non-square MIMO nonlinear systems with unknown dynamics

Sarand¹,

Karimi²

2017

IJCIS

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This paper addresses a robust adaptive control problem of non-square nonlinear systems with unmeasurable states. The systems are assumed to be multi-input/multi-output subject to dynamical uncertainties and external disturbances. The approach is studied for two cases, i.e., underactuated and over-actuated nonlinear systems. The new observer does not need to satisfy the SPR conditions. Moreover, a constant full-rank matrix with an adaptive gain is used to approximate the unknown gain matrix. Therefore, the proposed controller's structure simplifies its implementation. The unknown nonlinearity is estimated neural networks. Stability of the closed-loop system is proved using Lyapunov analysis. The feasibility of the proposed approach is validated by simulation examples.

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“…But it maybe give rise to the chattering phenomenon near the sliding surface because of the unknown bounded disturbance. Adaptive control can eliminate the model deficiency through online estimated the uncertain parameters to achieve global asymptotic stability [Mingu Kim+2012].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Sliding Mode Control for Quadrotor Aerial Robot with Ι Type Configuration

Wang

He²,

Zhu³

2014

International Journal of Automation and Control Engineering

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This paper presents an adaptive sliding mode control for trajectory tracking of quad rotor aerial robot with I type configuration. A continuous adaptive dynamic vector is used to eliminate the chattering phenomenon in the sliding mode control and the asymptotic stability is achieved. On the base of a nonlinear dynamic model of the quad rotor with I configuration, adaptive sliding mode nonlinear controller is synthesized for the purpose of stabilization and trajectory tracking of quad rotor. In order to validate the robustness of the proposed control method, the model deviations are modeled. It behaves perfectly at the reference altitude and trajectory track in simulation.

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Adaptive sliding mode control using slack variables for affine underactuated systems

Cited by 13 publications

References 11 publications

Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control

Robust Trajectory-Tracking Control of a Rotorcraft Using Immersion-and-Invariance-Based Adaptive Backstepping Control

Observer based robust neuro-adaptive control of non-square MIMO nonlinear systems with unknown dynamics

Adaptive Sliding Mode Control for Quadrotor Aerial Robot with Ι Type Configuration

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