控制理论(社会学)
终端滑动模式
惯性
趋同(经济学)
联轴节(管道)
计算机科学
终端(电信)
鲁棒控制
理论(学习稳定性)
模式(计算机接口)
跟踪(教育)
扰动(地质)
滑模控制
控制系统
控制(管理)
工程类
人工智能
非线性系统
物理
心理学
电气工程
机器学习
量子力学
操作系统
古生物学
经济
经济增长
生物
机械工程
教育学
电信
经典力学
作者
Wenlei Zheng,Zhan Li,Bingkai Xiu,Bingliang Zhao,Zhigang Guo
出处
期刊:Journal of physics
[IOP Publishing]
日期:2023-02-01
卷期号:2425 (1): 012009-012009
标识
DOI:10.1088/1742-6596/2425/1/012009
摘要
Abstract The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode control (FOFTSMC) strategy based on mutable inertia parameters is proposed in this paper. First, the dynamics of aerial manipulator with consideration of the coupling disturbance is derived by utilizing mutable inertia parameters. Then, based on the dynamic model, a robust FOFTSMC algorithm is designed to make the system fly steadily under coupling disturbance. Furthermore, stability analysis is conducted to prove the convergence of tracking errors. Finally, comparative simulation results are given to show the validity and superiority of the proposed scheme.
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