Event-triggered anti-disturbance control for aerial recovery drogue stabilization with guaranteed transient performance constraints

Zikang Su, Mou Chen, Jia Chen, Honglun Wang
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Abstract

Aiming at the drogue docking control problem in aerial recovery, this paper proposes a performance event-triggered control algorithm based on disturbance observer to stabilize the flexibly towed aerial recovery drogue subject to the unknown airflows, cable towing tensions, limited computation capacity, and actuating power resources with guaranteed transient performance. Firstly, the control-oriented 6 degrees of freedom (DOF) affine nonlinear dynamics of the flexible cable-towed drogue are formulated. Then, the event-triggered extended state observers (ETESO) are established for the trajectory and attitude subsystems by utilizing intermittently measured state, to accurately estimate the lumped disturbances caused by the unmeasurable cable tension and unknown airflow disturbance while reducing the computation cost from the sensor to the observer. Moreover, to constrain the trajectory tracking error within the guaranteed transient performance constraint with any small overshoot, an ETESO-based event-triggered control algorithm for drogue was established to ensure the specified transient performance; finally, the closed-loop stability is discussed using Lyapunov analysis. The simulation results confirmed that this method can not only constrain the drogue within the expected small error range but also effectively reduce computational costs and resource occupation, with the best control effect.
用于空中回收垂尾稳定的事件触发抗干扰控制,保证瞬态性能约束
针对高空回收中的垂尾对接控制问题,本文提出了一种基于扰动观测器的性能事件触发控制算法,以在保证瞬态性能的前提下稳定未知气流、缆索牵引张力、有限计算能力和动力资源条件下的柔性牵引高空回收垂尾。首先,提出了面向控制的柔性缆索牵引垂体的 6 自由度(DOF)仿射非线性动力学。然后,利用间歇测量状态为轨迹和姿态子系统建立了事件触发扩展状态观测器(ETESO),以精确估计不可测量的缆索张力和未知气流干扰所造成的块状干扰,同时降低从传感器到观测器的计算成本。此外,为了将轨迹跟踪误差控制在保证的瞬态性能约束范围内,同时不出现任何小的过冲,建立了一种基于 ETESO 的事件触发式垂尾控制算法,以确保指定的瞬态性能;最后,利用 Lyapunov 分析讨论了闭环稳定性。仿真结果证实,该方法不仅能将垂尾约束在预期的小误差范围内,还能有效降低计算成本和资源占用,控制效果最佳。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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