The attitude control of rotorcraft aerial manipulator with saturated control action

被引：0
|
作者：
Chu Hongyu [1 ]
Chang Zhiyuan [1 ]
Zhang Weijia [1 ]
Shao Yanhua [1 ]
Zhang Xiaoqiang [1 ]
机构：
[1] Southwest Univ Sci & Technol, Sch Informat & Engn, Mianyang 621010, Sichuan, Peoples R China
来源：
2020 CHINESE AUTOMATION CONGRESS (CAC 2020) | 2020年
基金：
中国国家自然科学基金;
关键词：
rotorcraft aerial manipulator; UAV; conditioned super-twisting algorithm; anti-windup;
D O I：
10.1109/CAC51589.2020.9327705
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The rotorcraft aerial manipulator (RAM) system is a nonlinear system with strong coupling characteristics, which can actively operate the target object in the flight state. When the manipulator of RAM is moving, the system may stiffer from attitude disturbance to cause control input saturation. This paper designed a cascade controller constituted by ND controller and conditioned super-twisting algorithm (STA) for UAV attitude control, which can ensure stability and robustness of system and mitigate windup effect of control action. Besides, the extended state observer (ESO) is utilized to estimate the disturbance. Finally, through the simulation experiment on MATLAB, the validity of the controller is verified. The results demonstrate the robustness and anti-windup effect of the proposed controller.
引用
收藏
页码：7456 / 7461
页数：6
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