Fixed-Time Disturbance Observer-Based Control for Quadcopter Suspension Transportation System

被引：30

作者：

Liu, Wei ^{[1
]}

Chen, Mou ^{[1
]}

Shi, Peng ^{[2
,3
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China

[2] Univ Adelaide, Sch Elect & Elect Engn, Adelaide, SA 5000, Australia

[3] Victoria Univ, Coll Engn & Sci, Footscray, Vic 3011, Australia

来源：

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS I-REGULAR PAPERS | 2022年 / 69卷 / 11期

基金：

中国国家自然科学基金;

关键词：

Disturbance observers; Payloads; Transportation; Convergence; Trajectory; Symbols; Gravity; Payload; quadrotor; sliding mode control; disturbance observer; TRAJECTORY TRACKING CONTROL; MULTIAGENT SYSTEMS; QUADROTOR; DESIGN; UAV;

D O I：

10.1109/TCSI.2022.3193878

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

By considering the under-actuated characteristics of the quadcopter suspension transportation system and the external disturbance, the effective tracking control of the quadrotor transportation system faces great difficulties and challenges. An adaptive hierarchical sliding mode control (HSMC) scheme based on fixed-time sliding mode disturbance observer (FTSMDO) is developed for the anti-disturbance tracking control of under-actuated quadcopter suspension transportation system (UQSTS). The HSMC is used to deal with the under-actuated characteristics of the UQSTS, and the external disturbance is estimated by designing the FTSMDO. Synchronously, the disturbance estimation error is processed by designing the adaptive law. The stability analysis based on Lyapunov is applied to verify the uniform ultimate boundedness of the closed-loop system. Finally, the comparison of physical experiment upshots shows the effectiveness and potential of the proposed new control techniques.

引用

页码：4632 / 4642

页数：11

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