{"title":"具有未知有效载荷质量的四旋翼悬挂系统的固定时间自适应控制","authors":"","doi":"10.1016/j.jfranklin.2024.107316","DOIUrl":null,"url":null,"abstract":"<div><div>This paper investigates the control challenges of quadrotor suspension systems with unknown payload masses. To address the unknown external disturbances, uncertainties in system models, and unknown payloads, fixed-time stable adaptive laws are developed to estimate and compensate for these unknown factors. Additionally, a novel control structure based on a nonlinear backstepping controller is proposed for the quadrotor suspension system, achieving stable control of the quadrotor and reducing the sway of the suspended payload. The fixed-time stability of the designed closed-loop system is analytically proven using Lyapunov functions, ensuring maximum stability time. Simulink simulations validate the proposed control approach, demonstrating accurate estimation of unknown masses and the effectiveness and superiority of the controller.</div></div>","PeriodicalId":17283,"journal":{"name":"Journal of The Franklin Institute-engineering and Applied Mathematics","volume":null,"pages":null},"PeriodicalIF":3.7000,"publicationDate":"2024-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Fixed-time adaptive control of quadrotor suspension system with unknown payload mass\",\"authors\":\"\",\"doi\":\"10.1016/j.jfranklin.2024.107316\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>This paper investigates the control challenges of quadrotor suspension systems with unknown payload masses. To address the unknown external disturbances, uncertainties in system models, and unknown payloads, fixed-time stable adaptive laws are developed to estimate and compensate for these unknown factors. Additionally, a novel control structure based on a nonlinear backstepping controller is proposed for the quadrotor suspension system, achieving stable control of the quadrotor and reducing the sway of the suspended payload. The fixed-time stability of the designed closed-loop system is analytically proven using Lyapunov functions, ensuring maximum stability time. Simulink simulations validate the proposed control approach, demonstrating accurate estimation of unknown masses and the effectiveness and superiority of the controller.</div></div>\",\"PeriodicalId\":17283,\"journal\":{\"name\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":3.7000,\"publicationDate\":\"2024-10-05\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of The Franklin Institute-engineering and Applied Mathematics\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0016003224007373\",\"RegionNum\":3,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"AUTOMATION & CONTROL SYSTEMS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of The Franklin Institute-engineering and Applied Mathematics","FirstCategoryId":"94","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0016003224007373","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
Fixed-time adaptive control of quadrotor suspension system with unknown payload mass
This paper investigates the control challenges of quadrotor suspension systems with unknown payload masses. To address the unknown external disturbances, uncertainties in system models, and unknown payloads, fixed-time stable adaptive laws are developed to estimate and compensate for these unknown factors. Additionally, a novel control structure based on a nonlinear backstepping controller is proposed for the quadrotor suspension system, achieving stable control of the quadrotor and reducing the sway of the suspended payload. The fixed-time stability of the designed closed-loop system is analytically proven using Lyapunov functions, ensuring maximum stability time. Simulink simulations validate the proposed control approach, demonstrating accurate estimation of unknown masses and the effectiveness and superiority of the controller.
期刊介绍:
The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.