Robust adaptive constrained boundary control for a suspension cable system of a helicopter |
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| Authors: | Yong Ren Mou Chen Peng Shi |
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| Affiliation: | 1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 211100, China;2. School of Electrical and Electronic Engineering, The University of Adelaide, Adelaide, South Australia 5005, Australia;3. College of Engineering and Science, Victoria University, Melbourne, Victoria 8001, Australia |
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| Abstract: | In this article, the problems of modeling and controlling are investigated for a suspension cable system of a helicopter with input saturation, system parameter uncertainties, and external disturbances by using the boundary control method. In accordance with the Hamilton's principle, the model of the suspension cable system of a helicopter is established by using a set of partial differential and ordinary differential equations. Considering nonsymmetric saturation constraint, the auxiliary systems are designed to handle with the effect of input saturation. Considering Lyapunov's direct method and the designed auxiliary systems, two robust adaptive boundary controllers are provided by the actuators at the helicopter and the box. Under the proposed controllers, the error between the bottom payload and the target location and the vibration range are uniformly ultimately bounded. Moreover, they will converge to a small neighborhood of zero by selecting the suitable parameters. Meanwhile, to guarantee the validity of the proposed adaptive boundary control laws, some sufficient conditions are raised. Simulation results are provided to verify that the effectiveness of the designed controllers in this paper. |
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| Keywords: | boundary control constrained control partial differential equation (PDE) robust adaptive control suspension cable system |
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