IDEAS home Printed from https://ideas.repec.org/a/eee/apmaco/v427y2022ics0096300322002223.html
   My bibliography  Save this article

Disturbance observer-based robust coordination control for unmanned autonomous helicopter slung-load system via coupling analysis method

Author

Listed:
  • Liu, Lijun
  • Chen, Mou
  • Li, Tao

Abstract

This work studies the robust coordination control for a strong coupled and under-actuated unmanned autonomous helicopter (UAH) slung-load system subject to external disturbances. Firstly, disturbance observers are designed to obtain the disturbance estimations, and a dynamic coupling matrix is introduced to describe the coupling relationships between the UAH system and the slung-load system. Secondly, based on the proposed coupling matrix, a disturbance observer-based coordination control scheme is designed for the position system of the UAH and the slung-load one by using hierarchical sliding mode control. Thirdly, an improved controller is designed for the attitude system of the UAH by combining the backstepping control, disturbance observer, and dynamic surface control, in which the detrimental coupling is suppressed while the beneficial one is retained to improve control performance. Especially, the stability for the overall closed-loop system is guaranteed based on Lyapunov stability theory. Finally, some simulations are presented to show the effectiveness and advantage of the proposed control scheme.

Suggested Citation

  • Liu, Lijun & Chen, Mou & Li, Tao, 2022. "Disturbance observer-based robust coordination control for unmanned autonomous helicopter slung-load system via coupling analysis method," Applied Mathematics and Computation, Elsevier, vol. 427(C).
  • Handle: RePEc:eee:apmaco:v:427:y:2022:i:c:s0096300322002223
    DOI: 10.1016/j.amc.2022.127148
    as

    Download full text from publisher

    File URL: http://www.sciencedirect.com/science/article/pii/S0096300322002223
    Download Restriction: Full text for ScienceDirect subscribers only

    File URL: https://libkey.io/10.1016/j.amc.2022.127148?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    References listed on IDEAS

    as
    1. Ren, Yong & Li, Kun & Ye, Hui, 2020. "Modeling and anti-swing control for a helicopter slung-load system," Applied Mathematics and Computation, Elsevier, vol. 372(C).
    2. Zhang, Huifeng & Wei, Xinjiang & Wei, Yongli & Hu, Xin, 2021. "Anti-disturbance control for dynamic positioning system of ships with disturbances," Applied Mathematics and Computation, Elsevier, vol. 396(C).
    3. Li, Yankai & Chen, Mou & Li, Tao & Shi, Peng, 2020. "Anti-disturbance reference mode resilient dynamic output feedback control for turbofan systems," Applied Mathematics and Computation, Elsevier, vol. 378(C).
    4. Rong Mei & Ning Wang, 2021. "Robust Control for the Suspension Cable System of the Unmanned Helicopter with Sensor Fault under Complex Environment," Complexity, Hindawi, vol. 2021, pages 1-9, March.
    Full references (including those not matched with items on IDEAS)

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Wang, Chen & Qi, Yiwen & Tang, Yiwen & Li, Xin & Ji, Ming, 2024. "Robust control with protected feedback information for switched systems under injection attacks," Applied Mathematics and Computation, Elsevier, vol. 475(C).

    Most related items

    These are the items that most often cite the same works as this one and are cited by the same works as this one.
    1. Liu, Fan & Chen, Mou & Li, Tao, 2022. "Resilient H∞ control for uncertain turbofan linear switched systems with hybrid switching mechanism and disturbance observer," Applied Mathematics and Computation, Elsevier, vol. 413(C).
    2. Xu, Xiaofeng & Chen, Mou & Li, Tao & Wu, Qingxian, 2021. "Composite fault tolerant attitude control for flexible satellite system under disturbance and input delay," Applied Mathematics and Computation, Elsevier, vol. 409(C).
    3. Gao, Yuxuan & Zhao, Ying & Liu, Yu & Pan, Zhuo-Rui & Wang, Rui, 2023. "Output tracking anti-disturbance control for turbofan systems," Applied Mathematics and Computation, Elsevier, vol. 456(C).

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:eee:apmaco:v:427:y:2022:i:c:s0096300322002223. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    If CitEc recognized a bibliographic reference but did not link an item in RePEc to it, you can help with this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Catherine Liu (email available below). General contact details of provider: https://www.journals.elsevier.com/applied-mathematics-and-computation .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.