|
|||||
|
|
Adaptive cooperative control for air-ground systems with actuator saturation under disturbances |
|
| Authors: | Hongjiu Yang Jin Wang Hongbo Li Zhiqiang Zuo |
| Affiliation: | 1. School of Electrical and Information Engineering, Tianjin University, Tianjin, China;2. School of Electrical and Information Engineering, Tianjin University, Tianjin, China Geekplus Technology Co., Ltd. Building #1, Chaolai Science and Technology Park, Beijing, China |
| Abstract: | In this article, an adaptive cooperative control strategy is proposed for an air-ground system with actuator saturation. The air-ground system with actuator saturation includes a ground vehicle with road bumps and a quadrotor with gust winds. The adaptive cooperative control strategy is composed of four tracking differentiators, four adaptive extended state observers and two adaptive integral SMC laws. Based on Silverman canonical transformation and pole placement, the adaptive extended state observers are designed to estimate disturbances from the road bumps and gust winds. The adaptive integral SMC laws are proposed to achieve cooperation between the ground vehicle and the quadrotor in the air-ground system with actuator saturation. Simulation results are provided to show effectiveness of the adaptive cooperative control strategy by a ground vehicle and a quadrotor. |
| Keywords: | actuator saturation adaptive cooperative control adaptive extended state observer adaptive integral sliding mode control air-ground system |