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Compensation Function Observer-based Adaptive Anti-swing Control for Quadrotor Slung-load System With Constrained Flight States
In this work, a robust adaptive anti-swing control strategy is proposed for the quadrotor slung-load system (QSLS) with constrained flight states and unknown disturbances. Based on the online trajectory planning approach, the smooth reference trajectory is generated. Different from the traditional e...
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Published in: | International journal of control, automation, and systems 2024, Automation, and Systems, 22(10), , pp.3202-3218 |
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creator | Niu, Cong Shen, Haidong Yan, Kun Yan, Xiutian |
description | In this work, a robust adaptive anti-swing control strategy is proposed for the quadrotor slung-load system (QSLS) with constrained flight states and unknown disturbances. Based on the online trajectory planning approach, the smooth reference trajectory is generated. Different from the traditional extended state observer method, a novel compensation function observer is developed to handle the unknown disturbances, which has better observation accuracy. Meanwhile, by means of the barrier Lyapunov function (BLF) technique, the boundary of the state errors can be guaranteed within the specified range. Especially, the presented method can solve the singularity problem that the denominator of the BLF reaches zero at some point. Following the design flow of backstepping methodology, an adaptive tracking control scheme is developed for the QSLS such that the swing angles are stable with time and the constrained flight states are not violated invariably. Finally, contrastive simulation results validate the validity of the proposed control algorithm. |
doi_str_mv | 10.1007/s12555-024-0073-3 |
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Finally, contrastive simulation results validate the validity of the proposed control algorithm.</description><subject>Adaptive algorithms</subject><subject>Adaptive control</subject><subject>Adaptive systems</subject><subject>Compensation</subject><subject>Constraints</subject><subject>Control</subject><subject>Control algorithms</subject><subject>Control theory</subject><subject>Disturbances</subject><subject>Engineering</subject><subject>Flight</subject><subject>Liapunov functions</subject><subject>Mechatronics</subject><subject>Regular Papers</subject><subject>Robotics</subject><subject>Robust control</subject><subject>State observers</subject><subject>Tracking control</subject><subject>Trajectory planning</subject><subject>제어계측공학</subject><issn>1598-6446</issn><issn>2005-4092</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2024</creationdate><recordtype>article</recordtype><recordid>eNp1kV9rFDEUxYNYcK1-AN8CvgmpN_8ms4_L4tpCoei2-Bgymcw07WyyJplKn_zqZjuCTz7dc-F3DvdyEPpA4YICqM-ZMiklASZIXTnhr9CKAUgiYM1eoxWV65Y0QjRv0NucHwCahq3VCv3exsPRhWyKjwHv5mBfxE2XXXpyiXQmux5venMs_snhTSie5F8-jHgbQ0lxwkNM-Nts-hRLVftpDiOZounx_jkXd8A_fLk_wbkk40MN201-vC94X0xx-R06G8yU3fu_8xzd7b7cbi_J9c3Xq-3mmljGeSEdtHwwTvAB2pZKpRpopHKq78AJZ7kEyXnXmr6z3KxdaxnUZ2k7WAm26QU_R5-W3JAG_Wi9jsa_zDHqx6Q332-vNIWGCSVUhT8u8DHFn7PLRT_EOYV6n-aUcq4oF1ApulA2xZyTG_Qx-YNJzzVIn0rRSym6lqJPpWhePWzx5MqG0aV_yf83_QHCqo_D</recordid><startdate>20241001</startdate><enddate>20241001</enddate><creator>Niu, Cong</creator><creator>Shen, Haidong</creator><creator>Yan, Kun</creator><creator>Yan, Xiutian</creator><general>Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers</general><general>Springer Nature B.V</general><general>제어·로봇·시스템학회</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7SC</scope><scope>7SP</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope><scope>JQ2</scope><scope>L7M</scope><scope>L~C</scope><scope>L~D</scope><scope>ACYCR</scope><orcidid>https://orcid.org/0000-0002-2489-7225</orcidid></search><sort><creationdate>20241001</creationdate><title>Compensation Function Observer-based Adaptive Anti-swing Control for Quadrotor Slung-load System With Constrained Flight States</title><author>Niu, Cong ; Shen, Haidong ; Yan, Kun ; Yan, Xiutian</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c233t-b083fae43f088157760657e7db0e4ec350533b8adbc3a9e8c2064418fc50c6d43</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2024</creationdate><topic>Adaptive algorithms</topic><topic>Adaptive control</topic><topic>Adaptive systems</topic><topic>Compensation</topic><topic>Constraints</topic><topic>Control</topic><topic>Control algorithms</topic><topic>Control theory</topic><topic>Disturbances</topic><topic>Engineering</topic><topic>Flight</topic><topic>Liapunov functions</topic><topic>Mechatronics</topic><topic>Regular Papers</topic><topic>Robotics</topic><topic>Robust control</topic><topic>State observers</topic><topic>Tracking control</topic><topic>Trajectory planning</topic><topic>제어계측공학</topic><toplevel>online_resources</toplevel><creatorcontrib>Niu, Cong</creatorcontrib><creatorcontrib>Shen, Haidong</creatorcontrib><creatorcontrib>Yan, Kun</creatorcontrib><creatorcontrib>Yan, Xiutian</creatorcontrib><collection>CrossRef</collection><collection>Computer and Information Systems Abstracts</collection><collection>Electronics & Communications Abstracts</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><collection>ProQuest Computer Science Collection</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>Computer and Information Systems Abstracts Academic</collection><collection>Computer and Information Systems Abstracts Professional</collection><collection>Korean Citation Index</collection><jtitle>International journal of control, automation, and systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Niu, Cong</au><au>Shen, Haidong</au><au>Yan, Kun</au><au>Yan, Xiutian</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Compensation Function Observer-based Adaptive Anti-swing Control for Quadrotor Slung-load System With Constrained Flight States</atitle><jtitle>International journal of control, automation, and systems</jtitle><stitle>Int. J. Control Autom. Syst</stitle><date>2024-10-01</date><risdate>2024</risdate><volume>22</volume><issue>10</issue><spage>3202</spage><epage>3218</epage><pages>3202-3218</pages><issn>1598-6446</issn><eissn>2005-4092</eissn><abstract>In this work, a robust adaptive anti-swing control strategy is proposed for the quadrotor slung-load system (QSLS) with constrained flight states and unknown disturbances. Based on the online trajectory planning approach, the smooth reference trajectory is generated. Different from the traditional extended state observer method, a novel compensation function observer is developed to handle the unknown disturbances, which has better observation accuracy. Meanwhile, by means of the barrier Lyapunov function (BLF) technique, the boundary of the state errors can be guaranteed within the specified range. Especially, the presented method can solve the singularity problem that the denominator of the BLF reaches zero at some point. 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subjects | Adaptive algorithms Adaptive control Adaptive systems Compensation Constraints Control Control algorithms Control theory Disturbances Engineering Flight Liapunov functions Mechatronics Regular Papers Robotics Robust control State observers Tracking control Trajectory planning 제어계측공학 |
title | Compensation Function Observer-based Adaptive Anti-swing Control for Quadrotor Slung-load System With Constrained Flight States |
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