کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5003051 1368462 2016 6 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Slack Variables Generation via QR Decomposition for Adaptive Nonlinear Control of Affine Underactuated Systems
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مکانیک محاسباتی
پیش نمایش صفحه اول مقاله
Slack Variables Generation via QR Decomposition for Adaptive Nonlinear Control of Affine Underactuated Systems
چکیده انگلیسی
This paper presents a slack variable generation method utilizing QR decomposition for an adaptive nonlinear controller of affine underactuated systems. Slack variables are adopted to overcome nonsquare properties of underactuated systems. QR decomposition has an advantage of fast and accurate calculation to compute least square solution of underdetermined systems. In this paper, the slack variable generation using the QR decomposition is proposed to guarantee the stability of the closed-loop system with an adaptive nonlinear controller. Numerical simulations are performed to verify the performance of the adaptive nonlinear controller with the proposed slack variable generation method for a quadrotor unmanned aerial vehicle and an unmanned helicopter.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: IFAC-PapersOnLine - Volume 49, Issue 17, 2016, Pages 188-193
نویسندگان
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