Open AccessUnilateral boundary control for a suspension cable system of a helicopter with horizontal motion
Author(s) -
Ren Yong,
Chen Mou,
Liu Jianye
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5610
Subject(s) - control theory (sociology) , motion (physics) , suspension (topology) , motion control , boundary (topology) , computer science , control system , control (management) , control engineering , engineering , mathematics , artificial intelligence , electrical engineering , robot , mathematical analysis , homotopy , pure mathematics
In this study, the anti‐swing control is investigated for a suspension cable system of a helicopter subject to external disturbance. First, a disturbance observer is designed to compensate for the effect of the external disturbance in finite time. Next, based on the proposed disturbance observer and the given desired trajectory, a unilateral boundary control law is proposed to eliminate the vibration by using Lyapunov's direct method. Under the designed control scheme, the ultimately boundedness of closed‐loop is guaranteed. Moreover, the vibration range and trajectory tracking error will converge to a small neighbourhood of zero by selecting suitable parameters. Simulation results verify the rationality and validity of proposed control scheme.