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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 PublicationIEEE Transactions on Aerospace and Electronic Systems
ISSN0018-9251
Volume60Issue: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.

KeywordState Constraints Input Saturation Barrier Lyapunov Function (Blf) Fixed-time Prescribed Performance Control (Ftppc) Quadrotor Slung Load
DOI10.1109/TAES.2024.3372487
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaEngineering ; Telecommunications
WOS SubjectEngineering, Aerospace ; Engineering, Electrical & Electronic ; Telecommunications
WOS IDWOS:001291141500103
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC, 445 HOES LANE, PISCATAWAY, NJ 08855-4141
Scopus ID2-s2.0-85187367437
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Citation statistics
Document TypeJournal article
CollectionTHE 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 AuthorPeng, Xiuhui
Affiliation1.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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