Prescribed performance safe tracking control for the unmanned helicopter with input and output constraints

被引：1

作者：

Ma H.-X. ^{[1
,2
]}

Chen M. ^{[1
]}

Wu Q.-X. ^{[1
]}

机构：

[1] College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Jiangsu, Nanjing

[2] College of Information Engineering, Henan University of Science and Technology, Henan, Luoyang

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2024年 / 41卷 / 01期

基金：

中国国家自然科学基金;

关键词：

adaptive control; input saturation; prescribed performance; safe control; unmanned helicopter;

D O I：

10.7641/CTA.2023.20316

中图分类号：

学科分类号：

摘要：

This paper deals with the problem of prescribed performance safe tracking control for the attitude and altitude system of unmanned helicopter with unknown external disturbances, input saturation, and constraints of attitude and altitude. Firstly, by considering the constraints of attitude and altitude, a safe desired tracking signal is constructed with the application of an output boundary protection algorithm. Furthermore, combining with the proposed output boundary protection algorithm, the prescribed performance function is developed to guarantee the tracking performance of the safe desired tracking signal. A Sigmoid function is utilized to tackle the problem of saturation input. To compensate the compound disturbances which include external disturbances and the estimation error of Sigmoid function, a parameter adaptive method is adopted to approximate its upper bound. Combining with the backstepping technology, the safe tracking controller is investigated. The Lyapunov stability theory is employed to guarantee the boundedness of all closed-loop signals and the safe tracking performance of the unmanned helicopter system. Simulation results of an example are provided to illustrate the effectiveness of the proposed control scheme. © 2024 South China University of Technology. All rights reserved.

引用

页码：39 / 48

页数：9

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