Li Ding , Xingyu Liu , Rui Ma , Chao Tan , Ahmed Tijani Musa , Guibing Zhu , Yangmin Li , YaoYao Wang
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引用次数: 0
Abstract
This article explores robust adaptive motion control for a cable-driven aerial manipulator in the presence of input saturation. The investigation begins by considering the physical attributes of the aerial manipulator and establishing a kinematic and dynamic model of the system with lumped disturbances. Following this, a new control law is formulated using the parameter adaptive technique, where the adaptive law offers continuous estimation of the virtual parameters. Moreover, a Gaussian error function is utilized to tackle the challenge of input saturation. The stability of the controller proposed is confirmed using Lyapunov theory. Ultimately, numerical simulations and experimental comparisons are conducted to validate the accuracy and effectiveness of the proposed control strategy.
期刊介绍：
Aerospace Science and Technology publishes articles of outstanding scientific quality. Each article is reviewed by two referees. The journal welcomes papers from a wide range of countries. This journal publishes original papers, review articles and short communications related to all fields of aerospace research, fundamental and applied, potential applications of which are clearly related to:
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• Information processing
• Data fusion
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• Robotics and intelligent systems
• Complex system engineering.
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