Fixed-time disturbance observer-based parafoil control method and application

被引：2

作者：

Guo Y.-M. ^{[1
]}

Yan J.-G. ^{[1
]}

Xiao B. ^{[1
]}

Wu C.-H. ^{[1
]}

Xing X.-J. ^{[1
]}

机构：

[1] School of Automation, Northwestern Polytechnical University, Shaanxi, Xi’an

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 02期

基金：

中国国家自然科学基金;

关键词：

attitude control; fixed time; nonlinear control systems; observers; trajectory tracking;

D O I：

10.7641/CTA.2022.11247

中图分类号：

学科分类号：

摘要：

To address the control problem of the flexible parafoil-booster system, a modified vector field path following control scheme with a fixed-time disturbance observer is proposed. Firstly, an online wind field estimation approach is introduced to obtain the unknown wind environment. Secondly, in order to ensure the fast stability of the parafoil-booster control system subject to the negative influence of aerodynamic uncertainties and the hinge coupling between these two subsystems, a fixed-time disturbance observer is designed to estimate the composite disturbance without knowing the upper boundary of the disturbance. The estimation result is used to compensate for the input of the control system. Thirdly, a lateral controller is developed to simultaneously ensure the stability of lateral deflection moment, yaw angle, and yaw rate. The closed-loop parafoil control system has been proved by using the Lyapunov theory. Finally, the effectiveness and application value of the proposed method is verified by numerical simulation and hardware-in-loop testing. © 2023 South China University of Technology. All rights reserved.

引用

页码：390 / 399

页数：9

共 23 条

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