Boundary Control of a String System on Unmanned Aircraft for Electrical Equipment Measurement and Maintenance

Abstract

As a kind of partial differential system, the string system has a great application space in fields of aerospace and transportation, such as high-altitude electrical equipment measurement and maintenance using an unmanned aircraft. At same time, vibration suppression of string system has received great concern in engineering. In this paper, a underactuated string system with boundary disturbance based on unmanned aircraft hoisting payload is studied. System dynamic is modeled by Hamiltonian principle. The control objective in this paper are to move the payload to the desired position through the movement of the unmanned aircraft, and the vibration of the cable can be quickly eliminated. An improved boundary control law is presented in this paper, and the asymptotic stability of the system is proved by Lyapunov theory. The effectiveness of the method in this paper is verified by numerical simulation.