VNHC-Based Continuous Sliding Mode Control for an Underactuated Tethered UAV System
Bibliographic record
Abstract
This article introduces a novel continuous sliding mode control strategy for transporting a tethered payload by a UAV. A key contribution of this work is the development of a feasible sliding manifold based onvirtual nonholonomic constraints(VNHC), addressing the longstanding challenge of stabilizing both actuated and unactuated states in underactuated systems. Our approach constructs an explicit sliding manifold, a task previously unachieved for tethered UAV systems, and designs a continuous sliding mode controller to guide system states onto this manifold. The proposed continuous sliding mode controller effectively mitigates undesirable chattering effects and facilitates feasible attitude extraction. Rigorous proofs are provided for the finite time reachability of the sliding manifold and the asymptotic stability of the reduced dynamics on the manifold, using theinvariance principleand homogeneous stability for thedifferential inclusion. Numerical simulations and experiments are conducted to validate the effectiveness of the proposed controller.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".