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 on <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">virtual nonholonomic constraints</i> (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 the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">invariance principle</i> and homogeneous stability for the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">differential inclusion</i>. 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 distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 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 teacher head, 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".