Observer-Based Control for a Cable-Driven AerialManipulator under Lumped Disturbances

被引:4
作者
Ding, Li [1 ]
Yao, Yong [1 ]
Ma, Rui [1 ]
机构
[1] Jiangsu Univ Technol, Coll Mech Engn, Changzhou 213000, Peoples R China
来源
CMES-COMPUTER MODELING IN ENGINEERING & SCIENCES | 2023年 / 135卷 / 02期
基金
中国国家自然科学基金;
关键词
Aerial manipulator; cable-driven; adaptive super-twisting; linear extend state observer; fractional-order nonsingular terminal sliding mode; SLIDING MODE CONTROL; TRAJECTORY TRACKING CONTROL; REJECTION CONTROL; SYSTEM;
D O I
10.32604/cmes.2022.023003
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
With the increasing demand for interactive aerial operations, the application of aerial manipulators is becoming more promising. However, there are a few critical problems on how to improve the energetic efficiency and pose control of the aerial manipulator for practical application. In this paper, a novel cable-driven aerial manipulator used for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account. To achieve high precision joint position tracking under lumped disturbances, a newly controller, which consists of three parts: linear extended state observer, adaptive super-twisting strategy, and fractional-order nonsingular terminal sliding mode control, is proposed. The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure. The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem. The Lyapunov method is utilized to prove the overall stability and convergence of the system. Lastly, various visualization simulations and ground experiments are conducted, verifying the effectiveness of our strategy, and all outcomes demonstrate its superiorities over the existing control strategies.
引用
收藏
页码:1539 / 1558
页数:20
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