Residential College | false |
Status | 已發表Published |
Anti-Saturation Backstepping Control for Quadrotor Slung Load System with Fixed-Time Prescribed Performance | |
Peng, Xiuhui1; Zhang, Zuoming1; Zhang, Ancai2; Yuen, Ka Veng3 | |
2024-08 | |
Source Publication | IEEE Transactions on Aerospace and Electronic Systems |
ISSN | 0018-9251 |
Volume | 60Issue:4Pages:4170-4181 |
Abstract | This paper addresses the prescribed performance tracking control problem for the quadrotor slung load system under input saturation and partial-states constraints. Firstly, based on the method of barrier Lyapunov function (BLF), load position and linear velocity are constrained in the specified regions. Then, the fixed-time prescribed performance control (FTPPC) is introduced to the load attitude loop to confine the swing magnitude of the cable and simultaneously pledge the faster convergence speed. In addition, the hyperbolic tangent functions and the auxiliary systems are incorporated to alleviate the saturation nonlinearity effect. In virtue of the Lyapunov stability approach, all signals of the entire system are uniformly ultimately bounded and the constrained states remain in the specific performance boundaries. Finally, numerical simulation results attest to the effectiveness of the proposed backstepping control scheme. |
Keyword | State Constraints Input Saturation Barrier Lyapunov Function (Blf) Fixed-time Prescribed Performance Control (Ftppc) Quadrotor Slung Load |
DOI | 10.1109/TAES.2024.3372487 |
URL | View the original |
Indexed By | SCIE |
Language | 英語English |
WOS Research Area | Engineering ; Telecommunications |
WOS Subject | Engineering, Aerospace ; Engineering, Electrical & Electronic ; Telecommunications |
WOS ID | WOS:001291141500103 |
Publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141 |
Scopus ID | 2-s2.0-85187367437 |
Fulltext Access | |
Citation statistics | |
Document Type | Journal article |
Collection | THE STATE KEY LABORATORY OF INTERNET OF THINGS FOR SMART CITY (UNIVERSITY OF MACAU) Faculty of Science and Technology DEPARTMENT OF CIVIL AND ENVIRONMENTAL ENGINEERING |
Corresponding Author | Peng, Xiuhui |
Affiliation | 1.College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing, China 2.School of Automation and Electrical Engineering, Linyi University, Linyi, China 3.State Key Laboratory of Internet of Things for Smart City, and the Department of Civil and Environmental Engineering, University of Macau, Taipa, Macao, China |
Recommended Citation GB/T 7714 | Peng, Xiuhui,Zhang, Zuoming,Zhang, Ancai,et al. Anti-Saturation Backstepping Control for Quadrotor Slung Load System with Fixed-Time Prescribed Performance[J]. IEEE Transactions on Aerospace and Electronic Systems, 2024, 60(4), 4170-4181. |
APA | Peng, Xiuhui., Zhang, Zuoming., Zhang, Ancai., & Yuen, Ka Veng (2024). Anti-Saturation Backstepping Control for Quadrotor Slung Load System with Fixed-Time Prescribed Performance. IEEE Transactions on Aerospace and Electronic Systems, 60(4), 4170-4181. |
MLA | Peng, Xiuhui,et al."Anti-Saturation Backstepping Control for Quadrotor Slung Load System with Fixed-Time Prescribed Performance".IEEE Transactions on Aerospace and Electronic Systems 60.4(2024):4170-4181. |
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