Flexible performance constraint-based control of a quadrotor UAV-suspended payload system under input saturation

Wei Liu, Mou Chen and Kenan Yong

International Journal of Systems Science, 2024, vol. 55, issue 1, 130-146

Abstract: In this article, a flexible performance constraint-based tracking control scheme is proposed for the anti-swing control of a quadrotor UAV-suspended payload system under external disturbance and input saturation. By applying system coupling relations and positive system theory, a self-regulating auxiliary system is constructed to generate correction signals to achieve the ability to regulate a prescribed performance function. The disturbance interval observer is employed to estimate the unknown disturbance. The interval width of the disturbance is used to design a continuous robust signal, enhancing the system's robustness. Additionally, it is with the intention of designing the controller for the under-actuated system to achieve effective tracking that the backstepping control scheme is used. It can always track the reference signal and satisfy flexible performance constraints based on theoretical analysis. Finally, the effectiveness of the proposed scheme is verified by experimental studies.

Date: 2024
References: Add references at CitEc
Citations:

Downloads: (external link)
http://hdl.handle.net/10.1080/00207721.2023.2268772 (text/html)
Access to full text is restricted to subscribers.

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:taf:tsysxx:v:55:y:2024:i:1:p:130-146

Ordering information: This journal article can be ordered from
http://www.tandfonline.com/pricing/journal/TSYS20

DOI: 10.1080/00207721.2023.2268772

Access Statistics for this article

International Journal of Systems Science is currently edited by Visakan Kadirkamanathan

More articles in International Journal of Systems Science from Taylor & Francis Journals
Bibliographic data for series maintained by Chris Longhurst ().