Antisaturation Backstepping Control for Quadrotor Slung Load System With Fixed-Time Prescribed Performance

This article addresses the prescribed performance tracking control problem for the quadrotor slung load system under input saturation and partial-state constraints. First, based on the method of barrier Lyapunov function, load position and linear velocity are constrained in the specified regions. Th...

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Bibliographic Details
Published in:IEEE transactions on aerospace and electronic systems 2024-08, Vol.60 (4), p.4170-4181
Main Authors: Peng, Xiuhui, Zhang, Zuoming, Zhang, Ancai, Yuen, Ka-Veng
Format: Article
Language:English
Subjects:
Actuators
Backstepping
Barrier Lyapunov function (BLF)
Convergence
fixed-time prescribed performance control (FTPPC)
input saturation
Numerical stability
quadrotor slung load
Quadrotors
Stability criteria
state constraints
Vectors
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Summary:This article addresses the prescribed performance tracking control problem for the quadrotor slung load system under input saturation and partial-state constraints. First, based on the method of barrier Lyapunov function, load position and linear velocity are constrained in the specified regions. Then, the fixed-time prescribed performance control is introduced to the load attitude loop to confine the swing magnitude of the cable and simultaneously pledge the faster convergence speed. In addition, the hyperbolic tangent functions and the auxiliary systems are incorporated to alleviate the saturation nonlinearity effect. In virtue of the Lyapunov stability approach, all signals of the entire system are uniformly ultimately bounded and the constrained states remain within the specific performance boundaries. Finally, numerical simulation results attest to the effectiveness of the proposed backstepping control scheme.
ISSN:0018-9251
1557-9603
DOI:10.1109/TAES.2024.3372487