Geometric-based prescribed performance control for unmanned aerial manipulator system under model uncertainties and external disturbances

Zhan, Weiwei; Chen, Yanjie; He, Bingwei; Miao, Zhiqiang; Zhang, Hui

doi:10.1016/j.isatra.2021.11.006

Cited by 3 publications

(1 citation statement)

References 26 publications

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“…Dai et al 21 integrated the backstepping technique and control Lyapunov synthesis, developed a PPC approach for underactuated marine vehicles. Zhan et al 22 presented a PPC scheme for the underactuated unmanned aerial manipulators, where the position controller was based on geometric distance. Elhaki et al 23 and Shojaei et al 24 investigated the control problems of autonomous tractor‐trailers convoy and autonomous robotic cars convoy respectively, and designed corresponding controller with prescribed performance.…”

Section: Introductionmentioning

confidence: 99%

Prescribed performance control for uncertain underactuated systems via constraint‐following with application to a PVTOL aircraft

Liu

Chen

et al. 2023

Adaptive Control & Signal

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SummaryGuaranteeing prescribed transient and steady state performance (TSSP) for mechanical systems is of great significance to their motion control, motivating the prescribed performance control (PPC). This study investigates the PPC for uncertain underactuated systems. We consider time‐varying (possibly fast), bounded uncertainty including large mismatched portions, however the bound is unknown. The control design is implemented via constraint‐following, that is, rendering the system to follow a series of servo constraints. We hence impose the prescribed TSSP on the constraint‐following error. An approximation‐free adaptive robust PPC based on a state transformation technique is designed, achieving approximate constraint‐following and guaranteeing the prescribed TSSP to be satisfied. It employs an adaptive law to online estimate the unknown bounds for uncertainty compensation. It does not assume sufficiently small mismatched uncertainties, hence admitting large mismatched uncertainties. The stability of the controlled underactuated systems is sustained by rigorous proofs. By the proposed approach, the PPC of a planar vertical take‐off and landing aircraft is explored, which also illustrates the effectiveness of the approach.

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