Abstract
This paper investigates vibration suppression of uncertain hose and drogue systems in the presence of actuator nonlinearities. Firstly, a previously presented model of the hose and drogue systems is extended to describe how the hose and drogue systems restrain the vibration, while the accompanying unknown aerodynamic coefficients are estimated by invoking the parameter projection method. Subsequently, for the actuator nonlinearities of dead-zone and saturation, a smooth dead-zone approximate function is constructed to design the dead-zone compensation method, based upon which the proposed control scheme can handle actuator dead-zone and saturation simultaneously while improving the output efficiency of the actuator. Next, for the actuator nonlinearities of backlash and saturation, a smooth backlash inverse is constructed based upon which the presented control scheme can cope with the both actuator nonlinearities simultaneously. Finally, by utilizing backstepping method and hyperbolic tangent function, the proposed control schemes can also achieve the control objectives of vibration suppression and external disturbance attenuation. Simulation examples are included to demonstrate the validity of the proposed control schemes.
Highlights
The hose and drogue system (HDS) is vital equipment in aerial refueling, which can transfer fuel from the air-tanker to the receiver [1]
Two control schemes respectively based on active disturbance rejection control and sliding mode control were proposed for a one-dimensional Euler-Bernoulli beam equation, to cope with the external disturbance flowing to the control end [8]
With respect to the HDS investigated in this paper, Liu et al established a novel dynamic model by utilizing the partial differential equation (PDE), and developed
Summary
The hose and drogue system (HDS) is vital equipment in aerial refueling, which can transfer fuel from the air-tanker to the receiver [1]. The dead-zone or backlash usually appears in the actuator of mechanical equipment, the HDS is no exception [13], [23] These nonlinearities degrade the control performance of mechanical equipment, and there have been amounts of control schemes developed to handle them [19]–[25]. Two novel control schemes are presented for the uncertain HDS with actuator nonlinearities. A novel dead-zone approximate function is constructed, such that our first control scheme will improve the output efficiency of the actuator while handling the two aforementioned actuator nonlinearities simultaneously. The remainder of this paper is organized as follows: the extended model of the HDS is established, Section III designs the novel dead-zone approximate function which is the basis of our first control scheme.
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