http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
3D Trajectory Tracking Control for a Thrust-Propelled Vehicle with Time-varying Disturbances
Meisam Kabiri,Hajar Atrianfar,Mohammad Bagher Menhaj 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.8
This paper discusses trajectory tracking for a class of under-actuated thrust-propelled vehicle in thepresence of two time-varying disturbances. A saturated estimator based on equivalent output injection slidingmode disturbance observer is employed to accommodate for the adverse effect of the translational disturbance. Tohandle the rotational disturbance, we make use of a sliding mode controller. The stability of the overall systemis investigated by means of Lyapunov function theory. A numerical simulation is included in the paper to showeffectiveness of the proposed control scheme.