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Type: Journal article
Title: Robust adaptive constrained boundary control for a suspension cable system of a helicopter
Author: Ren, Y.
Chen, M.
Shi, P.
Citation: International Journal of Adaptive Control and Signal Processing, 2018; 32(1):50-68
Publisher: Wiley
Issue Date: 2018
ISSN: 0890-6327
Statement of
Yong Ren, Mou Chen, Peng Shi
Abstract: In this article, the problems of modeling and controlling are investigated for a suspension cable system of a helicopter with input saturation, system parameter uncertainties, and external disturbances by using the boundary control method. In accordance with the Hamilton's principle, the model of the suspension cable system of a helicopter is established by using a set of partial differential and ordinary differential equations. Considering nonsymmetric saturation constraint, the auxiliary systems are designed to handle with the effect of input saturation. Considering Lyapunov's direct method and the designed auxiliary systems, two robust adaptive boundary controllers are provided by the actuators at the helicopter and the box. Under the proposed controllers, the error between the bottom payload and the target location and the vibration range are uniformly ultimately bounded. Moreover, they will converge to a small neighborhood of zero by selecting the suitable parameters. Meanwhile, to guarantee the validity of the proposed adaptive boundary control laws, some sufficient conditions are raised. Simulation results are provided to verify that the effectiveness of the designed controllers in this paper.
Keywords: Boundary control; constrained control; partial differential equation (PDE); robust adaptive control; suspension cable system
Rights: © 2017 John Wiley & Sons, Ltd.
RMID: 0030077752
DOI: 10.1002/acs.2826
Appears in Collections:Electrical and Electronic Engineering publications

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