南京航空航天大学学报（英文版）2021，Vol.38Issue(2)：193-205,13.
无人直升机吊装系统预设性能鲁棒减摆控制
Robust Anti-swing Control for Unmanned Helicopter Slung-Load System with Prescribed Performance
摘要
Abstract
A robust anti-swing control method based on the error transformation function is proposed,and theproblem is handled for the unmanned helicopter slung-load system(HSLS)deviating from the equilibrium state due to the disturbances in the lifting process. First,the nonlinear model of unmanned HSLS is established. Second,the errors of swing angles are constructed by using the two ideal swing angle values and the actual swing angle values for the unmanned HSLS under flat flight,and the error transformation functions are investigated to guarantee that the errors of swing angles satisfy the prescribed performance. Third,the nonlinear disturbance observers are introduced to estimate the bounded disturbances,and the robust controllers of the unmanned HSLS,the velocity and the attitude subsystems are designed based on the prescribed performance method,the output of disturbance observer and the sliding mode backstepping strategy,respectively. Fourth,the Lyapunov function is developed to prove the stability of the closed-loop system. Finally,the simulation studies are shown to demonstrate the effectiveness of the control strategy.关键词
无人直升机吊装系统/预设性能/减摆控制/干扰观测器/滑模控制器Key words
unmanned helicopter slung-load system/prescribed performance/anti-swing control/disturbanceobserver/sliding mode controller分类
航空航天引用本文复制引用
邵书义,刘楠,李春茹,陈谋..无人直升机吊装系统预设性能鲁棒减摆控制[J].南京航空航天大学学报（英文版）,2021,38(2):193-205,13.基金项目
This work was supported in part by the National Natural Science Foundation of China(No.62003163),the National Science Fund for the Key R&D projects(Social Development)in Jiangsu Province of China(No.BE2020704),the Aeronautical Science Foundation of China(Nos.201957052001,20200007052001),the Jiangsu Province"333"project(No.BRA2019051),the Postdoctor-al Research Foundation of Jiangsu Province(No.2020Z112),and the Natural Science Foundation of Jiangsu Province for Young Scholars(No.BK20200415). （No.62003163）
