Anti-Swing Nonlinear Path Tracking Controller for Helicopter Slung Load System

El-Férik, Sami; Syed, Asim H.; Omar, Hanafy M.; Deriche, Mohamed

doi:10.3182/20131120-3-fr-4045.00032

Cited by 4 publications

(5 citation statements)

References 10 publications

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“…Theorem 1. Consider the suspension cable system of the unmanned helicopter (4) with sensor faults satisfying Assumption 1, the nonlinear sensor estimator is designed as (10). If the designed function parameters L 1 (X 1 ) and L 2 (χ) are chosen to render the following inequality valid:…”

Section: Design Of Sensor Fault Estimatormentioning

confidence: 99%

“…6 Complexity e corresponding design parameters of the developed antiswing control of the suspension cable system of an unmanned helicopter based on the sensor fault estimator are chosen as K 1 � I 2 , K 2 � 150I 2 , and c � 0.5. e nonlinear sensor fault estimator is designed as (10). Based on the designed sensor fault estimator, the robust antiswing control scheme is developed as (20), (26), and (30).…”

Section: Simulation Studymentioning

confidence: 99%

“…In [9], to deliver airborne cargo precisely, an active control scheme was designed for an unmanned helicopter with a slung load. An antiswing controller was designed for the unmanned helicopter with slung load by nonlinear path tracking in [10]. In [11], an adaptation controller was developed for autonomous helicopter slung load operations.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Control for the Suspension Cable System of the Unmanned Helicopter with Sensor Fault under Complex Environment

Mei

2021

Complexity

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Aiming at the suspension cable system of an unmanned helicopter with sensor fault under complex environment, this paper studies the robust antiswing tolerant control scheme. To suppress the swing of the hanging load when the unmanned helicopter is in the forward flight state, a nonlinear line motion model is firstly established. Considering the sensor fault of the unmanned helicopter, a sensor fault estimator is developed. By using the fault estimator output, the robust antiswing tolerant controller is proposed using the backstepping technique and sliding mode control method. Under the designed robust antiswing tolerant controller, the desired tracking control performance can be obtained and the swing angle of the load is guaranteed small under the sensor fault. Furthermore, the closed-loop system stability is analyzed by using the Lyapunov technique. Simulation studies are given to show the efficiency of the designed robust antiswing control strategy.

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Section: Design Of Sensor Fault Estimatormentioning

confidence: 99%

Section: Simulation Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Robust Control for the Suspension Cable System of the Unmanned Helicopter with Sensor Fault under Complex Environment

Mei

2021

Complexity

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“…Similar to the input shaping technique, control design parameters have to be determined from a linearized state-space model, where the actual time-delay needs to be modeled. Examples of successful applications are, e.g., given in [32] for container cranes or in [31,33,34] for helicopter slung load systems to actively damp the swing motion. In [24], a comparison between the usage of input shaping, delayed feedback control, and a combination of both techniques showed that the input shaping is indeed advantageous in suppressing unintended swing motions for a multibody hexrotor UAV with cable-suspended load, but also, that a delayed feedback controller pose a powerful standalone augmentation approach to address the controller capabilities (ii) and (iii).…”

Section: Literature Overviewmentioning

confidence: 99%

Asymptotic tracking position control with active oscillation damping of a multibody Mars vehicle using two artificial augmentation approaches

2021

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The Valles Marineris Explorer Cooperative Swarm navigation, Mission and Control research project aims to explore the Valles Marineris canyon system on Mars with, among others, multibody rotary-wing unmanned aerial vehicles (UAVs) comprising of a hexrotor system and a helium-filled balloon being attached to it by means of a rope. In this paper, we develop a high-fidelity closed-loop control system in MATLAB® and Simulink™ to present the application of an adequate flight controller guaranteeing (1) asymptotic tracking position control of the multibody flight system, (2) suppression of the balloon’s swinging motion in forward flight case, and (3) stabilization of the rope angle around its equilibrium for steady-state conditions. Applying feedback linearization for the outer loop and analytical backstepping for the inner loop of a nonlinear cascaded control design model of the hexrotor system, we propose an extension of the baseline flight controller by two artificial augmentation approaches to cope with the balloon dynamics. Basically, by utilizing oscillation damping feedbacks of the uncertain plant which are applied as additional commands to either the inner or the outer loop’s reference model. Simulation results are presented for an eight-shaped flight maneuver at the bottom of Valles Marineris proving that the augmentation units increase the flight controller capabilities to suppress modeling errors artificially—without changing the baseline control laws. The augmentation units actively damp the balloon motion in the forward flight case for non-steady-state conditions to counteract the rope oscillations and finally stabilize the rope angle around its equilibrium, so that the Mars vehicle is able to reach a steady-state in position when its extraterrestrial mission profile is successfully completed.

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“…In particular, only a portion of the interconnected system is actuated ( G 1 in Figure ) while the other portion is unactuated ( G 2 in Figure ) . A motivating example for such a class of dynamical systems is a slung load system, where a helicopter is actuated with a physical connection to the load that is (generally) unactuated. In References , the dynamics of the load affect the stability and achievable performance of the overall slung load system, and the objective is to design control laws for load damping such that the slung load system remains stable and has some degree of desirable performance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive control of unactuated dynamical systems through interconnections: Stability and performance guarantees

Gruenwald

Yucelen

Chakravarthy

2020

Adaptive Control & Signal

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Summary This article studies control and performance enforcement for a class of uncertain dynamical systems that consist of actuated and unactuated portions physically interconnected to each other. The proposed approach stabilizes the overall interconnected system in the presence of unknown physical interconnections as well as system uncertainties. Performance guarantees are enforced, individually, on the actuated as well as unactuated portions of the interconnected system via this approach. For enforcing these performance guarantees, a set‐theoretic model reference adaptive control approach is used, in conjunction with linear matrix inequalities, to restrict the respective system error trajectories of the actuated and unactuated dynamics inside a priori, user‐defined compact sets. The efficacy of the proposed approach is demonstrated using simulations.

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Anti-Swing Nonlinear Path Tracking Controller for Helicopter Slung Load System

Cited by 4 publications

References 10 publications

Robust Control for the Suspension Cable System of the Unmanned Helicopter with Sensor Fault under Complex Environment

Robust Control for the Suspension Cable System of the Unmanned Helicopter with Sensor Fault under Complex Environment

Asymptotic tracking position control with active oscillation damping of a multibody Mars vehicle using two artificial augmentation approaches

Adaptive control of unactuated dynamical systems through interconnections: Stability and performance guarantees

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