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Flexible Switching Control of Aircraft Skin Inspection Robot via Adaptive Dynamic Programming
This article considers the flexible switching control problem of a two-frame aircraft skin inspection robot (TFASIR) with full-state time-varying constraints, input saturation, uncertainty, and unknown disturbance. Initially, this control problem is also treated as a tracking control problem of the...
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Published in: | IEEE access 2024, Vol.12, p.158407-158421 |
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Main Authors: | , , , |
Format: | Article |
Language: | English |
Subjects: | |
Citations: | Items that this one cites |
Online Access: | Get full text |
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Summary: | This article considers the flexible switching control problem of a two-frame aircraft skin inspection robot (TFASIR) with full-state time-varying constraints, input saturation, uncertainty, and unknown disturbance. Initially, this control problem is also treated as a tracking control problem of the dual-coupled adsorption system (DCAS). A novel nonlinear time-varying state-dependent function (NTVSDF) is first designed to tackle the full-state constraint problem. Subsequently, a feedforward tracking control method is designed, that uses the command-filtered backstepping technique, to transform the tracking control problem into an equivalent differential game problem (DGP) of closed-loop systems. Then, a zero-sum game strategy is presented, that uses the idea of adaptive dynamic programming (ADP) algorithm, to determine the DGP. The whole control method ensures that the closed-loop signals are uniformly ultimately bounded (UUB). Furthermore, another problem is that the partial system states are not accessible. To overcome this problem, a high-gain observer is utilized to reconstruct the state vector, and an output feedback controller is developed. The feasibility of the proposed control scheme is demonstrated in simulation. |
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ISSN: | 2169-3536 2169-3536 |
DOI: | 10.1109/ACCESS.2024.3486808 |