Work

The Fixed-Time Observer-Based Adaptive Tracking Control for Aerial Flexible-Joint Robot with Input Saturation and Output Constraint

Year: 2023

Type: article

Abstract: The aerial flexible-joint robot (AFJR) manipulation system has been widely used in recent years. To handle uncertainty, the input saturation and the output constraint existing in the system, a fixed-time observer-based adaptive control scheme (FTOAC) is proposed. First, to estimate the input saturation and disturbances from the internal force between the robot and the flight platform, a fixed-time observer is designed. Second, a tangent-barrier Lyapunov function is introduced to implement the output constraint. Third, adaptive neural networks are introduced for the online identification of nonlinear unknown dynamics in the system. In addition, a fixed-time compensator is designed in this paper to eliminate the adverse effects caused by filtering errors. The stability analysis shows that all the signals of the closed-loop system are bounded, and the system satisfies the condition of fixed-time convergence. Finally, the simulation results prove the superiority of the proposed control strategy by comparing it with the previous schemes.

Source: Drones

DOI: 10.3390/drones7060348

Authors: Tandong Li, Shaobo Li, Hang Sun, Dongchao Lv

Institutions: Guizhou University, Guizhou Provincial Institute of Mountain Agricultural Machinery, Guizhou Academy of Agricultural Sciences

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,224

Funders: Key Technologies Research and Development Program, National Key Research and Development Program of China