mateus-amarante / master_thesis Goto Github PK

Hi, I am working on the same problem and I am also using sliding mode control with a similar approach to yours.
Are there any publications of your work or your thesis in English.
You can see my work in the following publications

https://ieeexplore.ieee.org/abstract/document/9476697/
https://ieeexplore.ieee.org/abstract/document/9483290/

Typos listed in #1 (comment) by @lienguang0624

• Eq. (3.51)

• Eq. (3.56)

Transfering @lienguang0624's #1 (comment) to here

Thank you very much for your prompt reply. I have roughly understood the structure of your paper. Next, I want to repeat your simulation work, but I encountered some difficulties while reading your source code.
The return value of the rL_fun(t) function in the waypoint_shaped_flat_trajectory.m file is a matrix of 280121. I know that 2801 represents the time node, but how is this 21 obtained, and what does it specifically mean? (I can only analyze that rL_fun probably represents the position information of the suspanded load, but these are only three variables(xl,yl,zl))
The same problem is also true for yaw_fun(t). Why is the function running the result of 28013 if only one state variable is yaw?
Do you have any suggestions for reading your simulation program?
I am very sorry for taking up your precious time and looking forward to your reply.

I did not find the application of the constant kappa_zpsi in Table 3.2 in the paper. From the meaning of the characters, this variable should be applied to the formulas (3.61) and (3.62). But in fact these two formulas apply variable kappa_1,2. Please help me understand these two variables, thank you.

The subject of UAV payload swing angle control of load suspension has puzzled me for a long time. I sincerely thank you for your open source project, which has inspired me a lot

I repeated the implementation in function [u, s, ueq, usw] = smc(e,edot,xddot_d,f,b,lambda,kappa,eta, switch_fun) according to formulas (3.61) and (3.62). In my understanding, ueq is the first two items of the above fractions (3.61 and 3.62), and usw is the last two items of the fractions. But in the process of manual calculation, it was found that lambda.*edot in ueq did not appear in the fractions (3.61 and 3.62). Please help me.