Chen Yanjie, Liang Jiacheng, Wu Yangning, Miao Zhiqiang, Zhang Hui, Wang Yaonan
IEEE Trans Cybern. 2023 May;53(5):3263-3276. doi: 10.1109/TCYB.2022.3168030. Epub 2023 Apr 21.
In this article, an adaptive sliding-mode disturbance observer (ASMDO)-based finite-time control scheme with prescribed performance is proposed for an unmanned aerial manipulator (UAM) under uncertainties and external disturbances. First, to take into account the dynamic characteristics of the UAM, a dynamic model of the UAM with state-dependent uncertainties and external disturbances is introduced. Then, note that a priori bounded uncertainty may impose a priori constraint on the system state before obtaining closed-loop stability. To remove this assumption, an ASMDO with a nested adaptive structure is introduced to effectively estimate and compensate the external disturbances and state-dependent uncertainties in finite time without the information of the upper bound of the uncertainties and disturbances and their derivatives. Furthermore, based on the proposed ASMDO, the finite-time control scheme with the prescribed performance is presented to ensure finite-time convergence and implement the specified transient and steady-state performance. The Lyapunov tools are utilized to analyze the stability of the proposed controller. Finally, the correctness and performance of the proposed controller are illustrated through numerical simulation comparisons and outdoor experimental comparisons.
本文针对存在不确定性和外部干扰的无人空中机械手（UAM），提出了一种基于自适应滑模干扰观测器（ASMDO）的具有规定性能的有限时间控制方案。首先，考虑到UAM的动态特性，引入了具有状态依赖不确定性和外部干扰的UAM动态模型。然后，注意到先验有界不确定性可能在获得闭环稳定性之前对系统状态施加先验约束。为消除这一假设，引入了具有嵌套自适应结构的ASMDO，以在无需不确定性和干扰及其导数的上界信息的情况下，在有限时间内有效估计和补偿外部干扰以及状态依赖不确定性。此外，基于所提出的ASMDO，提出了具有规定性能的有限时间控制方案，以确保有限时间收敛并实现指定的瞬态和稳态性能。利用李雅普诺夫工具分析了所提出控制器的稳定性。最后，通过数值仿真比较和户外实验比较说明了所提出控制器的正确性和性能。
