Robust adaptive constrained boundary control for a suspension cable system of a helicopter

2017 ◽  
Vol 32 (1) ◽  
pp. 50-68 ◽  
Author(s):  
Yong Ren ◽  
Mou Chen ◽  
Peng Shi
Keyword(s):  
Boundary Control ◽  
Cable System ◽  
Suspension Cable ◽  
Robust Adaptive

Disturbance observer-based boundary control for a suspension cable system moving in the horizontal plane

2018 ◽  
Vol 41 (2) ◽  
pp. 340-349 ◽  
Author(s):  
Yong Ren ◽  
Mou Chen ◽  
Qingxian Wu
Keyword(s):  
Boundary Control ◽  
Direct Method ◽  
Oscillation Amplitude ◽  
Sufficient Conditions ◽  
Design Parameters ◽  
Cable System ◽  
Control Laws ◽  
Positioning Control ◽  
Proper Design ◽  
Suspension Cable

This paper addresses the suppressing problem of cable vibration and the positioning control design for a suspension cable system of a helicopter with disturbances. Hamilton’s principle is applied to obtain a distributed parameter system for the suspension cable system of a helicopter. Two observers are employed to restrain the effect of unknown external disturbances. Based on the proposed disturbance observers and Lyapunov’s direct method, two boundary control laws are designed, which are provided by the actuators at the top and bottom boundaries of the suspension cable, respectively. Under the proposed control laws, the oscillation amplitude and the error between the bottom boundary payload and the desired point are proven to be uniformly ultimately bounded. Moreover, they will converge to a small neighbourhood of zero by selecting proper design parameters. Meanwhile, some sufficient conditions are provided to guarantee the validity of the proposed control laws. Finally, simulation results show the rationality and effectiveness of the control scheme developed in this paper.

scholarly journals Robust Control for the Suspension Cable System of the Unmanned Helicopter with Sensor Fault under Complex Environment

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-9
Author(s):  
Rong Mei
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
System Stability ◽  
Unmanned Helicopter ◽  
Sensor Fault ◽  
Complex Environment ◽  
Cable System ◽  
Control Scheme ◽  
Suspension Cable ◽  
Nonlinear Line

Aiming at the suspension cable system of an unmanned helicopter with sensor fault under complex environment, this paper studies the robust antiswing tolerant control scheme. To suppress the swing of the hanging load when the unmanned helicopter is in the forward flight state, a nonlinear line motion model is firstly established. Considering the sensor fault of the unmanned helicopter, a sensor fault estimator is developed. By using the fault estimator output, the robust antiswing tolerant controller is proposed using the backstepping technique and sliding mode control method. Under the designed robust antiswing tolerant controller, the desired tracking control performance can be obtained and the swing angle of the load is guaranteed small under the sensor fault. Furthermore, the closed-loop system stability is analyzed by using the Lyapunov technique. Simulation studies are given to show the efficiency of the designed robust antiswing control strategy.

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